A robot capable of cleaning walls and ceilings

Abstract

The present invention discloses a robot capable of cleaning walls and ceilings, relating to the technical field of cleaning robots. The robot comprises a mobile suction mechanism and a dust collection mechanism. The mobile suction mechanism has a bottom suction port and a running wheel assembly. The dust collection mechanism comprises a turntable base, a rotating driver, a swing block, a swing driver, a dust collection driver, and a dust collection rod assembly. The turntable base is rotatably mounted on the top of the mobile suction mechanism about a first axis. The swing block is rotatably mounted in a swing groove on the turntable base about a second axis. The lower end of the dust collection rod assembly is fixedly mounted on the swing block, and a suction head that can rotate about a point is provided at the end of the dust collection rod assembly. The dust collection driver is disposed within the mobile suction mechanism. The dust collection rod assembly has a dust collection channel. The suction port of the dust collection driver is connected and communicated with the lower end opening of the dust collection channel, and the upper end opening of the dust collection channel is communicated with the suction head. The robot can clean walls and ceilings, reducing labor and improving cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a robot capable of cleaning walls and top surfaces. Background Art

[0002] Home robots are service robots used in homes or similar environments to meet the needs of users. They primarily provide home services and can be categorized as household robots, educational robots, entertainment robots, elderly care and disability assistance robots, household safety and security robots, cooking robots, and transport robots. Household robots are now found in most homes, shopping malls, and supermarkets across China, and cleaning tasks are gradually being replaced by robots.

[0003] However, the following problems have not been solved in the existing housework cleaning work: the existing types of housework cleaning robots only cover floor cleaning, window glass cleaning, etc., and there are no cleaning robots for walls and ceilings; based on this, it is particularly important to provide a cleaning robot that can clean and dust the walls and ceilings. Summary of the Invention

[0004] The purpose of the present invention is to provide a robot that can clean walls and ceilings to solve the problems existing in the above-mentioned prior art. It can clean walls and ceilings, reduce labor and improve cleaning efficiency.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a robot capable of cleaning walls and top surfaces, comprising a mobile adsorption mechanism and a dust suction mechanism; the mobile adsorption mechanism has a bottom adsorption port and a walking wheel assembly; the mobile adsorption mechanism can be adsorbed on the wall surface through the bottom adsorption port; the walking wheel assembly has a plurality of rotating walking parts, each of which can move on the adsorbed wall surface; the dust suction mechanism comprises a turntable base, a rotating drive, a swing block, a swing drive, a dust suction drive and a dust suction rod assembly; the turntable base is arranged on the top of the mobile adsorption mechanism to rotate around a first axis, and the first axis is perpendicular to the top surface of the mobile adsorption mechanism; the rotating drive is used to drive the turntable base to rotate around the first axis The cam is provided with a second guide rail, and the cam is provided with a second guide rail, and the cam is provided with a second guide rail.

[0007] Preferably, the dust suction rod assembly includes an outer rod, an inner rod and a telescopic drive; the outer rod and the inner rod are both hollow inside, and the inner hollow space of the outer rod and the inner hollow space of the inner rod together constitute the dust suction channel; the lower end of the outer rod is fixedly provided on the swing block, and the lower end opening of the outer rod is connected with the suction port of the dust suction drive; the inner rod slides along the axis of the outer rod and is sealed and penetrates the inside of the outer rod, and the upper end of the inner rod is located outside the outer rod; the suction head is arranged on the upper end of the inner rod around a point, and the suction head is connected with the upper end opening of the inner rod; the telescopic drive is fixedly provided on the outside of the upper end of the outer rod; the telescopic drive has a rotating telescopic rotating gear, and a telescopic rack is fixedly provided on the outer side wall of the inner rod, and the telescopic rotating gear is meshed with the telescopic rack for transmission.

[0008] The top of the lifting wheel is to lift the up-down knob on the bottom of the lifting wheel, and the bottom of the lifting wheel is to lift the lifting wheel on the lifting wheel hub, so that the lifting wheel hub can be adjusted to the vertical direction of the lifting wheel hub.

[0009] Preferably, a dust suction duct, a dust suction fan and a dust collecting box are provided in the upper accommodating box; one end of the dust suction duct is connected to the outside, and the other end of the dust suction duct is connected to one end of the dust collecting box; the dust suction fan is arranged in the dust suction duct; the end of the dust collecting box away from the dust suction duct is connected to the lower end opening of the dust suction channel through a flexible connecting tube; a filter is provided in the dust collecting box.

[0010] Preferably, the dust collection box includes a frame box and a pull-out side cover; the frame box is fixedly arranged in the upper accommodating box body, the frame box has a side opening, and the upper accommodating box body is provided with a pull-out opening, and the side opening corresponds to the pull-out opening; the pull-out side cover includes a side pull-out plate, an upper plug-in plate and a lower plug-in plate; the upper plug-in plate is arranged parallel to the lower plug-in plate, and the upper plug-in plate is located above the lower plug-in plate; the upper end of the side pull-out plate is fixedly connected to one end of the upper plug-in plate, and the lower end of the side pull-out plate is fixedly connected to one end of the lower plug-in plate; slots are provided at the upper and lower ends of the frame box, and the upper plug-in plate and the lower plug-in plate are used to be fixedly inserted in the corresponding slots respectively; and the side pull-out plate can close the side opening of the frame box.

[0011] Preferably, a connecting spherical groove is provided on the suction head, and a connecting universal ball is fixedly provided on the upper end of the inner rod. The connecting universal ball is located in the connecting spherical groove, and the connecting spherical groove can rotate around the center of the connecting universal ball; the upper end opening of the inner rod is connected and communicated with the suction head through a bellows.

[0012] Preferably, the walking device includes a walking motor, a crawler, a driving wheel and a plurality of driven wheels; the lower adsorption box has a component installation cavity, and the component installation cavity is not connected to the adsorption cavity; the walking motor is fixedly arranged in the component installation cavity; the driving wheel and each of the driven wheels are rotatably arranged in the walking accommodating groove, and the walking motor is used to drive the driving wheel to rotate; the crawler is arranged on the outside of the driving wheel and each of the driven wheels.

[0013] Preferably, a first conical tooth is fixedly provided on the output end of the travel motor, a second conical tooth is fixedly provided on the rotating shaft of the driving wheel, and the first conical tooth is meshed with the second conical tooth.

[0014] Preferably, it further includes a controller, which is communicatively connected to both the mobile adsorption mechanism and the dust collection mechanism, and is wirelessly connected to an external control device.

[0015] Preferably, a plurality of first connection parts are provided around the lower end of the upper accommodating box body, and a plurality of second connection parts are provided around the upper end of the lower adsorption box body; a partition is sandwiched between the lower end of the upper accommodating box body and the upper end of the lower adsorption box body, and a plurality of third connection parts are provided around the partition body; and the partition body can close the upper end opening of the component mounting cavity; the first connection part, the second connection part and the third connection part are all in one-to-one correspondence and are fixedly connected by connecting parts.

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

[0017] The present invention provides a robot capable of cleaning walls and ceilings. The mobile suction mechanism tightly adheres to the wall surface through the bottom suction port using the negative pressure principle, forming a reliable attachment and ensuring that the robot can stably stay and operate on the wall surface. The rotation of the turntable base around the first axis, the rotation of the swing block around the second axis, and the arrangement of the suction head at the end of the dust collection rod assembly in a point-rotating manner make the dust collection more flexible. Dust, debris, etc. on the wall surface and the top ceiling are sucked into the dust collection channel at the suction head due to the suction force, and then passed through the communication path between the upper end opening of the dust collection channel and the suction head and finally collected, thereby achieving effective cleaning of the wall surface and the top ceiling. Moreover, the suction head can rotate around the point, which can better fit the wall surface and the top ceiling for dust collection, leaving no blind spots. The multiple rotating walking parts of the walking wheel assembly can flexibly move on the adsorbed wall surface, allowing the robot to reach different positions on the wall surface for cleaning. The entire robot can be adsorbed at different positions on the wall surface and flexibly adjust its own posture and the angle of the dust collection rod assembly, thereby comprehensively and efficiently completing the cleaning work, greatly reducing the labor of manual cleaning and improving the efficiency of the cleaning work.

[0018] Furthermore, by setting the telescopic drive, outer rod and inner rod, the length of the dust collection rod assembly can be changed; the suction head is arranged at the upper end of the inner rod and is connected to the upper end opening of the inner rod, which enables the suction head to change the angle within a certain range to better fit the shape of the wall or ceiling. Whether it is the corners of the wall or the various shaped edges on the ceiling, the suction head can adapt to these irregular surfaces through its own rotation, thereby cleaning dust and debris more comprehensively; the telescopic drive is fixedly arranged on the outside of the upper end of the outer rod. This layout makes the structure of the entire dust collection rod assembly relatively compact, ensuring the stability and continuity of the robot's cleaning work.

[0019] Furthermore, the mobile adsorption mechanism is divided into an upper accommodating box and a lower adsorption box, so that components with different functions can be reasonably distributed. This layered layout allows each functional module to be relatively independent and closely coordinated, which is convenient for the assembly, maintenance and upgrading of the robot; the air in the adsorption cavity is extracted by the suction device to make its internal pressure lower than the external atmospheric pressure, thereby forming a strong adsorption force at the bottom adsorption port, which can be firmly adsorbed on the wall or top surface. This method of actively creating a negative pressure environment through the suction device has stronger adaptability than some adsorption methods such as simple viscosity or magnetic attraction, and can achieve stable adsorption on surfaces of different materials, which is convenient for the robot. It provides a reliable basis for cleaning operations on walls and ceilings; the elastic sealing ring gasket can fill the tiny gaps that may exist between the adsorption port and the adsorbed surface, effectively preventing air leakage into the adsorption cavity, thereby maintaining the negative pressure state in the adsorption cavity and enhancing the adsorption force; the two walkers are respectively located in the walking accommodating grooves on both sides of the adsorption cavity. This double-sided distributed walker design makes the robot's walking on the wall or ceiling more stable and flexible. By controlling the rotation direction and speed of the walking parts of the two walkers, the robot can realize various walking movements such as forward, backward, and turning on the wall or ceiling, making it convenient for the robot to reach various areas that need to be cleaned.

[0020] Furthermore, the dust collection work at the suction head is achieved by the suction force provided by the dust collection fan in the dust collection duct, and the dust and the like in the cleaning process are intercepted by the filter into the dust collection box, which can avoid the indoor dust flying due to the cleaning process and keep the air around the cleaning area clean; the dust collection box is connected to the lower end opening of the dust collection channel through a flexible connecting tube. Since the dust collection rod assembly needs to perform various actions such as rotation, swinging and extension during the cleaning process, the flexible connecting tube can adapt to these actions well.

[0021] Furthermore, the dust box adopts a structural design of a frame box and a pull-out side cover, making it very convenient to clean the dust accumulated in the dust box. When the dust box needs to be cleaned, it is only necessary to pull out the pull-out side cover through the corresponding pull-out opening on the upper accommodating box body. Since the pull-out side cover composed of the side pull plate, upper plug plate and lower plug plate is connected to the frame box through a slot plug-in method, this connection method is both secure and easy to disassemble. This pull-out design also facilitates the inspection and replacement of components such as the filter inside the dust box.

[0022] Furthermore, the spherical connecting groove on the suction head cooperates with the universal ball fixed to the upper end of the inner rod, allowing the connecting groove to rotate around the center of the universal ball. This structure gives the suction head extremely flexible angle adjustment capabilities in three dimensions. The upper end opening of the inner rod is connected to the suction head through a bellows. The bellows has excellent elasticity and flexibility. When the suction head is adjusted at multiple angles, it can expand and contract accordingly with the rotation and displacement of the suction head, always keeping the dust collection channel between the inner rod and the suction head unobstructed.

[0023] Furthermore, a crawler-type walking mode is adopted, and the crawler is arranged on the outside of the driving wheel and multiple driven wheels. This design enables the robot to better adapt to different surface conditions when walking on walls and ceilings. Whether it is a relatively smooth tile wall, a concrete wall with a certain degree of roughness, or an uneven ceiling surface, the crawler can disperse the pressure by contacting the surface with a large area, thereby providing more stable support; the walking motor is arranged in the component installation cavity, which is not connected to the adsorption cavity. This layout effectively utilizes the internal space of the lower adsorption box, so that the components of the adsorption function and the walking function are placed independently to avoid mutual interference; placing the walking motor in the component installation cavity has a certain protective effect on the motor, which can prevent the motor from being directly exposed to environmental factors such as dust and moisture that may cause damage to it, and the driving wheel and the driven wheel are arranged to rotate in the walking groove. The walking groove can also provide certain protection for these walking components, reducing the risk of accidental collision or damage during the movement of the robot, thereby improving the service life and reliability of the walker.

[0024] Furthermore, the meshing of the first and second conical teeth transmits the power of the travel motor to the driving wheel, resulting in a high transmission efficiency. The conical gear transmission method also offers advantages in space utilization, as the characteristic shape of the conical teeth allows for power transmission within a relatively small space. For robots that need to navigate walls and ceilings, where space is limited, the use of conical gear meshing avoids the need for large, complex transmission components, resulting in a more compact connection between the travel motor and the driving wheel.

[0025] Furthermore, the controller is wirelessly connected to the external control device, which allows the operator to control the robot from a certain distance. When cleaning high walls or ceilings, the operator only needs to adsorb it on the wall and control it through the external control device in his hand (such as a mobile phone, tablet computer or special remote control, etc.) to remotely control the robot's various actions; with the help of the controller, the robot can execute pre-set cleaning programs, allowing the robot to automatically complete a series of complex cleaning tasks without the operator's real-time manual intervention, thereby improving the efficiency and accuracy of the cleaning work; the controller is communicatively connected to the mobile adsorption mechanism and the dust suction mechanism, which can realize centralized and unified control of all key components of the robot.

[0026] Furthermore, the multiple first connection parts around the lower end of the upper accommodating box, the multiple second connection parts around the upper end of the lower adsorption box, and the multiple third connection parts around the partition correspond to each other and are fixedly connected by connecting parts. This multi-point connection method forms a stable connection structure between the upper accommodating box, the lower adsorption box, and the partition. Due to the use of this corresponding connection method, when certain parts of the robot need to be repaired or replaced, the operation is relatively simple. For example, if the travel motor in the lower adsorption box fails, only the corresponding connection parts need to be removed to separate the lower adsorption box from the upper accommodating box and the partition, thereby conveniently repairing or replacing the travel motor. Moreover, this connection method can ensure the structural stability of the assembly, so that the assembled robot can operate normally, improving the quality and efficiency of the assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 A schematic diagram of the overall structure of the robot capable of cleaning walls and top surfaces provided by the present invention;

[0029] Figure 2 A schematic diagram of the overall structure of the robot capable of cleaning walls and top surfaces provided by the present invention from another perspective;

[0030] Figure 3 A schematic structural diagram of the dust collection mechanism of the robot capable of cleaning walls and ceilings provided by the present invention;

[0031] Figure 4 A schematic diagram of the connection structure between the inner rod and the suction head of the robot capable of cleaning walls and top surfaces provided by the present invention;

[0032] Figure 5 A schematic diagram of the connection structure between the inner rod and the telescopic driver in the robot capable of cleaning walls and ceilings provided by the present invention;

[0033] Figure 6 A schematic diagram of the internal structure of the upper accommodating box of the robot provided by the present invention that can clean the wall and top surfaces;

[0034] Figure 7 A schematic structural diagram of some components inside the upper accommodating box and the lower adsorption box of the robot capable of cleaning walls and top surfaces provided by the present invention;

[0035] Figure 8 A schematic diagram of the structure of the robot capable of cleaning walls and top surfaces provided by the present invention from an upper perspective of the lower adsorption box;

[0036] Figure 9 A schematic structural diagram of a walking device in a robot capable of cleaning walls and top surfaces provided by the present invention;

[0037] Figure 10 This is a schematic structural diagram of the dust collection box in the robot provided by the present invention that can clean the wall and top surfaces.

[0038] In the picture:

[0039] 10 - Turntable base; 101 - Swinging slot; 11 - Rotating driver; 12 - Swinging block; 13 - Swinging driver; 14 - Outer rod; 15 - Inner rod; 151 - Telescopic rack; 152 - Connecting universal ball; 16 - Telescopic driver; 161 - Telescopic drive motor; 162 - Telescopic rotating gear; 17 - Suction head; 171 - Connecting spherical slot; 18 - Ventilation end cap;

[0040] 20 - Upper housing; 21 - Shelf hole; 22 - Rotating support; 23 - Dust collection duct; 24 - Dust collection box; 241 - Filter; 242 - Frame box; 2421 - Slot; 243 - Pull-out side cover; 2431 - Upper insert; 2432 - Side pull plate; 2433 - Lower insert; 25 - First connecting portion; 26 - Air duct;

[0041] 30- partition; 31- third connecting portion;

[0042] 40 - lower adsorption box; 41 - adsorption cavity; 42 - component installation cavity; 421 - reinforcement rib; 43 - walking accommodating groove; 44 - second connecting portion;

[0043] 50-elastic sealing ring gasket;

[0044] 60 - walking device; 61 - walking motor; 611 - first conical gear; 62 - driving wheel; 621 - second conical gear; 63 - driven wheel; 64 - crawler track; 65 - rotating shaft. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] The purpose of the present invention is to provide a robot capable of cleaning walls and ceilings to solve the problems existing in the prior art. It can clean walls and ceilings, reduce labor, and improve cleaning efficiency.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Example 1

[0049] This embodiment provides a robot capable of cleaning walls and top surfaces, such as Figures 1 to 10 As shown, it includes a mobile adsorption mechanism and a dust collection mechanism; the mobile adsorption mechanism has a bottom adsorption port and a walking wheel assembly; the mobile adsorption mechanism can be adsorbed on the wall through the bottom adsorption port; the walking wheel assembly has a plurality of rotating walking parts, each of which can move on the adsorbed wall; the dust collection mechanism includes a turntable base 10, a rotating driver 11, a swing block 12, a swing driver 13, a dust collection driver and a dust collection rod assembly; the turntable base 10 is arranged on the top of the mobile adsorption mechanism to rotate around a first axis, and the first axis is perpendicular to the top surface of the mobile adsorption mechanism; the rotating driver 11 is used to drive the turntable base 10 to rotate around the first axis; A swing groove 101 is provided on the disk base 10, and the swing block 12 is arranged in the swing groove 101 to rotate around a second axis. The second axis is perpendicular to the first axis, and the second axis is parallel to the top surface of the mobile adsorption mechanism; the swing driver 13 is used to drive the swing block 12 to rotate around the second axis; the lower end of the dust suction rod assembly is fixedly provided on the swing block 12, and the end of the dust suction rod assembly is provided with a suction head 17 that can rotate around a point; the dust suction drive is provided in the mobile adsorption mechanism, and the dust suction rod assembly has a dust suction channel. The suction port of the dust suction drive is connected and communicated with the lower end opening of the dust suction channel, and the upper end opening of the dust suction channel is communicated with the suction head 17.

[0050] The mobile suction mechanism firmly adheres to the wall surface through the bottom suction port using the principle of negative pressure, forming a reliable attachment and ensuring that the robot can stably stay and operate on the wall surface. The rotation of the turntable base 10 about the first axis, the rotation of the swing block 12 about the second axis, and the arrangement of the suction head 17 at the end of the dust collection rod assembly in a point-rotating manner make the dust collection more flexible. Dust and debris on the wall and ceiling are sucked into the dust collection channel by the suction head 17 due to the suction force, and then passed through the communication path between the upper end opening of the dust collection channel and the suction head 17 and finally collected, achieving effective cleaning of the wall and ceiling. Moreover, the suction head 17 can rotate about the point, which can better fit the wall and ceiling for dust collection, leaving no blind spots. The multiple rotating walking parts of its walking wheel assembly can flexibly move on the wall surface to be sucked, allowing the robot to reach different locations on the wall for cleaning. The entire device can be adsorbed at different locations on the wall and flexibly adjust its own posture and the angle of the dust collection rod assembly, thereby completing the cleaning work comprehensively and efficiently, greatly reducing the labor of manual cleaning and improving the efficiency of the cleaning work.

[0051] Among them, the relevant setting instructions for the vacuum rod assembly:

[0052] Among the optional solutions of this embodiment, it is more preferred that Figures 1 to 5 As shown, the dust suction rod assembly includes an outer rod 14, an inner rod 15 and a telescopic drive 16; the outer rod 14 and the inner rod 15 are both hollow inside, and the inner hollow of the outer rod 14 and the inner hollow of the inner rod 15 together constitute a dust suction channel; the lower end of the outer rod 14 is fixedly provided on the swing block 12, and the lower end opening of the outer rod 14 is connected to the suction port of the dust suction drive; the inner rod 15 slides along the axis of the outer rod 14 and is sealed and penetrated inside the outer rod 14, and the upper end of the inner rod 15 is located outside the outer rod 14; the suction head 17 is arranged on the upper end of the inner rod 15 around a point, and the suction head 17 is connected to the upper end opening of the inner rod 15; the telescopic drive 16 is fixedly provided on the outside of the upper end of the outer rod 14; the telescopic drive 16 has a rotating telescopic rotating gear 162, and a telescopic rack 151 is fixedly provided on the outer side wall of the inner rod 15, and the telescopic rotating gear 162 is engaged with the telescopic rack 151 for transmission. By arranging the telescopic drive 16, the outer rod 14 and the inner rod 15, the length of the dust collection rod assembly can be changed; the suction head 17 is arranged to rotate around the point at the upper end of the inner rod 15 and is connected to the upper end opening of the inner rod 15, which enables the suction head 17 to change its angle within a certain range to better fit the shape of the wall or ceiling. Whether it is the corners of the wall or the various shaped edges on the ceiling, the suction head 17 can adapt to these irregular surfaces through its own rotation, thereby more comprehensively cleaning dust and debris; the telescopic drive 16 is fixedly arranged on the outside of the upper end of the outer rod 14. This layout makes the structure of the entire dust collection rod assembly relatively compact, ensuring the stability and continuity of the robot's cleaning work.

[0053] Specifically, the telescopic driver 16 includes a shell, a telescopic driving motor 161 located inside the shell, and a telescopic rotating gear 162. The telescopic driving motor 161 drives the telescopic rotating gear 162 to rotate, and part of the telescopic rotating gear 162 is located outside the shell and engages with the telescopic rack 151.

[0054] Among the optional solutions of this embodiment, it is more preferred that Figure 4 As shown, the suction head 17 is provided with a connecting spherical groove 171, and a connecting universal ball 152 is fixedly provided at the upper end of the inner rod 15. The connecting universal ball 152 is located in the connecting spherical groove 171, and the connecting spherical groove 171 can rotate about the center of the connecting universal ball 152. The upper end opening of the inner rod 15 is connected and communicated with the suction head 17 via a bellows. The connecting spherical groove 171 provided on the suction head 17 cooperates with the connecting universal ball 152 fixed at the upper end of the inner rod 15, allowing the connecting spherical groove 171 to rotate about the center of the connecting universal ball 152. This structure gives the suction head 17 extremely flexible angle adjustment capabilities in three-dimensional space. The upper end opening of the inner rod 15 is connected and communicated with the suction head 17 via a bellows. The bellows has good elasticity and flexibility. When the suction head 17 is adjusted at multiple angles, it can expand and contract and bend accordingly with the rotation and displacement of the suction head 17, always keeping the dust suction channel between the inner rod 15 and the suction head 17 unobstructed.

[0055] Among them, the relevant setting instructions for the mobile adsorption mechanism:

[0056] Among the optional solutions of this embodiment, it is more preferred that Figure 1 、 Figure 2 and Figures 6 to 8As shown, the mobile adsorption mechanism includes an upper accommodating box 20 and a lower adsorption box 40; the upper accommodating box 20 is fixedly arranged above the lower adsorption box 40; a shelf hole 21 is opened on the upper accommodating box 20, and a rotating support 22 is arranged in the upper accommodating box 20 corresponding to the position of the shelf hole 21, and the turntable base 10 is rotated around the first axis and is arranged on the rotating support 22; the rotation driver 11 is arranged in the upper accommodating box 20; the lower adsorption box 40 has an adsorption cavity 41 with an opening facing downward, and the lower opening of the adsorption cavity 41 forms a bottom adsorption cavity. opening; an extractor is provided in the upper accommodating box 20, the suction port of the extractor is connected to the adsorption cavity 41, and the air outlet of the extractor is connected to the outside; the walking wheel assembly includes two walkers 60, and walking accommodating grooves 43 are provided on the lower adsorption box 40 located on both sides of the adsorption cavity 41, and each walker 60 is respectively located in a walking accommodating groove 43; the walker 60 has a rotating walking part; an elastic sealing ring gasket 50 is provided below the bottom adsorption port; in the vertical direction, the lower end of the elastic sealing ring gasket 50 protrudes from the lower end of the walking part. The mobile adsorption mechanism is divided into an upper accommodating box 20 and a lower adsorption box 40, so that components with different functions can be reasonably distributed. This layered layout allows each functional module to be relatively independent and closely coordinated, which is convenient for the assembly, maintenance and upgrading of the robot; the air in the adsorption cavity 41 is extracted by the suction device to make its internal pressure lower than the external atmospheric pressure, thereby forming a strong adsorption force at the bottom adsorption port, which can be firmly adsorbed on the wall or top surface. This method of actively creating a negative pressure environment through the suction device has stronger adaptability than some adsorption methods such as simple viscosity or magnetic attraction, and can achieve stable adsorption on surfaces of different materials, which is convenient for the robot to perform adsorption on walls and top surfaces. It provides a reliable basis for cleaning operations; the elastic sealing ring gasket 50 can fill the tiny gap that may exist between the adsorption port and the adsorbed surface, effectively preventing air leakage from entering the adsorption cavity 41, thereby maintaining the negative pressure state in the adsorption cavity 41 and enhancing the adsorption force; the two walkers 60 are respectively located in the walking accommodating grooves 43 on both sides of the adsorption cavity 41. This double-sided distribution of the walker 60 design makes the robot's walking on the wall or top surface more stable and flexible. By controlling the rotation direction and speed of the walking parts of the two walkers 60, various walking movements such as forward, backward, and turning of the robot on the wall or top surface can be realized, making it convenient for the robot to reach various areas that need to be cleaned.

[0057] Specifically, the upper accommodating box 20 is provided with an air duct 26, and the air duct 26 is provided with the suction device. The suction device is composed of a DC brushless motor and a fan, and the output end of the DC brushless motor is fixedly connected to the fan.

[0058] Specifically, the elastic sealing ring gasket 50 is fixed to the bottom adsorption port by gluing.

[0059] Specifically, by controlling the steering of the two walkers 60, the robot can move straight and turn after sticking to the wall, thereby enhancing the robot's ability to pass through complex terrains and enabling it to efficiently clean various wall surfaces.

[0060] Among the optional solutions of this embodiment, it is more preferred that Figure 1 、 Figure 2 、 Figures 6 to 8 As shown, a plurality of first connection parts 25 are provided around the lower end of the upper accommodating box 20, and a plurality of second connection parts 44 are provided around the upper end of the lower adsorption box 40; a partition 30 is sandwiched between the lower end of the upper accommodating box 20 and the upper end of the lower adsorption box 40, and a plurality of third connection parts 31 are provided around the partition 30; and the partition 30 is capable of closing the upper end opening of the component mounting cavity 42; the first connection parts 25, the second connection parts 44, and the third connection parts 31 are all in one-to-one correspondence and fixedly connected by connecting members. The plurality of first connection parts 25 around the lower end of the upper accommodating box 20, the plurality of second connection parts 44 around the upper end of the lower adsorption box 40, and the plurality of third connection parts 31 around the partition 30 are in one-to-one correspondence and fixedly connected by connecting members (such as bolts and nuts). This multi-point connection method forms a stable connection structure between the upper accommodating box 20, the lower adsorption box 40, and the partition 30; due to the use of this corresponding connection method, when certain components of the robot need to be repaired or replaced, the operation is relatively simple. For example, if the walking motor 61 in the lower adsorption box 40 fails, the lower adsorption box 40 can be separated from the upper accommodating box 20 and the partition 30 by simply removing the corresponding connecting parts, thereby conveniently repairing or replacing the walking motor 61; and this connection method can ensure the structural stability of the assembly, so that the assembled robot can operate normally, thereby improving the quality and efficiency of the assembly.

[0061] Among the optional solutions of this embodiment, it is more preferred that Figure 1 、 Figure 2 、 Figures 7 to 9As shown, the walker 60 includes a walking motor 61, a crawler track 64, a driving wheel 62 and a plurality of driven wheels 63; the lower adsorption box 40 has a component installation cavity 42, and the component installation cavity 42 is not connected to the adsorption cavity 41; the walking motor 61 is fixedly arranged in the component installation cavity 42; the driving wheel 62 and each driven wheel 63 are rotatably arranged in the walking accommodating groove 43, and the walking motor 61 is used to drive the driving wheel 62 to rotate; the crawler track 64 is mounted on the outside of the driving wheel 62 and each driven wheel 63. The crawler 64 walking mode is adopted, and the crawler 64 is set on the outside of the driving wheel 62 and multiple driven wheels 63. This design enables the robot to better adapt to different surface conditions when walking on walls and ceilings. Whether it is a relatively smooth tile wall, a concrete wall with a certain degree of roughness, or an uneven ceiling surface, the crawler 64 can disperse the pressure by contacting the large area of ​​the surface, thereby providing more stable support; the walking motor 61 is set in the component installation cavity 42, and the component installation cavity 42 is not connected to the adsorption cavity 41. This layout effectively utilizes the lower adsorption box 4 0, so that the components with adsorption function and walking function are placed independently to avoid mutual interference; the walking motor 61 is placed in the component installation cavity 42, which plays a certain protective role for the motor and can prevent the motor from being directly exposed to environmental factors such as dust and moisture that may cause damage to it. Moreover, the driving wheel 62 and the driven wheel 63 are rotatably arranged in the walking groove 43, and the walking groove 43 can also provide certain protection for these walking components, reducing the risk of accidental collision or damage during the movement of the robot, thereby improving the service life and reliability of the walker 60.

[0062] Specifically, the driving wheel 62 and each driven wheel 63 are rotatably disposed in the travel accommodating groove 43 via a rotating shaft 65 .

[0063] Specifically, a reinforcing rib 421 for reinforcing the outer wall of the adsorption cavity 41 is fixedly provided in the component installation cavity 42 .

[0064] Specifically, the travel motor 61 is a DC reduction motor.

[0065] Among the optional solutions of this embodiment, it is more preferred that Figure 9As shown, the output end of the walking motor 61 is fixedly provided with a first conical tooth 611, and the rotating shaft 65 of the driving wheel 62 is fixedly provided with a second conical tooth 621, and the first conical tooth 611 is meshed with the second conical tooth 621. The power of the walking motor 61 is transmitted to the driving wheel 62 through the meshing of the first conical tooth 611 and the second conical tooth 621. This gear transmission method has a high transmission efficiency; the conical tooth transmission method has advantages in space utilization. Due to the shape characteristics of the conical teeth, it can realize power transmission in a relatively small space. For such robots that need to walk on walls and top surfaces, the space is relatively limited. The use of the conical tooth meshing method can avoid the use of large and complex transmission components, making the connection between the walking motor 61 and the driving wheel 62 more compact.

[0066] Among them, other related settings instructions for the vacuum function:

[0067] Among the optional solutions of this embodiment, it is more preferred that Figure 1 、 Figure 2 、 Figure 6 and Figure 7 As shown, the upper housing 20 is provided with a dust collection duct 23, a dust collection fan, and a dust collection box 24. One end of the dust collection duct 23 is connected to the outside, and the other end of the dust collection duct 23 is connected to one end of the dust collection box 24. The dust collection fan is arranged in the dust collection duct 23. The end of the dust collection box 24 away from the dust collection duct 23 is connected to the lower end opening of the dust collection channel via a flexible connecting pipe. A filter 241 is arranged in the dust collection box 24. The suction force provided by the dust collection fan in the dust collection duct 23 realizes the dust collection work at the suction head 17. The filter 241 then intercepts the dust and the like during the cleaning process and transfers it to the dust collection box 24. This can prevent indoor dust from flying during the cleaning process and keep the air around the cleaning area clean. The dust collection box 24 is connected to the lower end opening of the dust collection channel via a flexible connecting pipe. Since the dust collection rod assembly needs to perform various movements such as rotation, swinging, and extension during the cleaning process, the flexible connecting pipe can well adapt to these movements.

[0068] Among the optional solutions of this embodiment, it is more preferred that Figure 1 、 Figure 2 、 Figure 7 and Figure 10As shown, the dust box 24 includes a frame box 242 and a pull-out side cover 243; the frame box 242 is fixedly arranged in the upper accommodating box body 20, the frame box 242 has a side opening, and the upper accommodating box body 20 is provided with a pull-out opening, and the side opening corresponds to the pull-out opening; the pull-out side cover 243 includes a side pull plate 2432, an upper insert plate 2431 and a lower insert plate 2433; the upper insert plate 2431 and the lower insert plate 2433 are arranged in parallel, and the upper insert plate 2431 is positioned The upper end of the side pull plate 2432 is fixedly connected to one end of the upper insert plate 2431, and the lower end of the side pull plate 2432 is fixedly connected to one end of the lower insert plate 2433. Slots 2421 are provided at both the upper and lower ends of the frame box 242, and the upper insert plate 2431 and the lower insert plate 2433 are respectively fixedly inserted into the corresponding slots 2421. The side pull plate 2432 can also close the side opening of the frame box 242. The dust box 24 adopts the structural design of the frame box 242 and the pull-out side cover 243, making it very convenient to clean the dust accumulated in the dust box 24. When the dust box 24 needs to be cleaned, it is only necessary to pull out the pull-out side cover 243 through the corresponding pull-out opening on the upper accommodating box body 20. Since the pull-out side cover 243 composed of the side pull plate 2432, the upper plug plate 2431 and the lower plug plate 2433 is connected to the frame box 242 by plugging into the slot 2421, this connection method is both firm and easy to disassemble; this pull-out design also makes it easy to inspect and replace components such as the filter 241 inside the dust box 24.

[0069] Among them, regarding other related instructions:

[0070] Among the optional solutions of this embodiment, it is more preferred to further include a controller, which is communicatively connected to the mobile adsorption mechanism and the dust collection mechanism, and is wirelessly connected to the external control device. The controller is wirelessly connected to the external control device, which allows the operator to control the robot from a certain distance. When cleaning high walls or ceilings, the operator only needs to adsorb it on the wall and remotely control the robot's various actions through the external control device in his hand (such as a mobile phone, tablet computer or special remote control, etc.); with the help of the controller, the robot can execute a pre-set cleaning program, allowing the robot to automatically complete a series of complex cleaning tasks without the operator's real-time manual intervention, thereby improving the efficiency and accuracy of the cleaning work; the controller is communicatively connected to the mobile adsorption mechanism and the dust collection mechanism, which can achieve centralized and unified control of each key component of the robot.

[0071] Specifically, the openings of the air duct 26 and the dust collection duct 23 communicating with the outside are both provided with hollow ventilation end covers 18 .

[0072] Specifically, the robot capable of cleaning walls and ceilings of this embodiment can realize the rotation, swinging and extension of the vacuum rod assembly, greatly increasing the area of ​​the cleaning area, and continuously maintains parallel fit with the wall through the rotatable suction head 17 to ensure that all dust is collected, thereby improving the efficiency and quality of the cleaning work.

[0073] Specifically, it can be adsorbed on the wall, and the operator can complete the cleaning of the ceiling and glass through remote control, thereby improving the safety of the cleaning work, reducing labor, and greatly improving work efficiency.

[0074] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A robot capable of cleaning walls and ceilings, characterized by: Including mobile adsorption mechanism and dust collection mechanism; The mobile adsorption mechanism has a bottom adsorption port and a walking wheel assembly; the mobile adsorption mechanism can be adsorbed on the wall surface through the bottom adsorption port; the walking wheel assembly has a plurality of rotating walking parts, each of which can move on the adsorbed wall surface; The dust suction mechanism includes a turntable base, a rotation drive, a swing block, a swing drive, a dust suction drive and a dust suction rod assembly; the turntable base is arranged to rotate around a first axis on the top of the mobile adsorption mechanism, and the first axis is perpendicular to the top surface of the mobile adsorption mechanism; the rotation drive is used to drive the turntable base to rotate around the first axis; a swing groove is provided on the turntable base, and the swing block is arranged to rotate around a second axis in the swing groove, the second axis is perpendicular to the first axis, and the second axis is parallel to the top surface of the mobile adsorption mechanism; the swing drive is used to drive the swing block to rotate around the second axis; the lower end of the dust suction rod assembly is fixedly provided on the swing block, and the end of the dust suction rod assembly is provided with a suction head that can rotate around a point; the dust suction drive is arranged in the mobile adsorption mechanism, and the dust suction rod assembly has a dust suction channel, the suction port of the dust suction drive is connected and communicated with the lower end opening of the dust suction channel, and the upper end opening of the dust suction channel is communicated with the suction head.

2. The robot capable of cleaning walls and ceilings according to claim 1, characterized in that: The dust suction rod assembly includes an outer rod, an inner rod and a telescopic drive; the outer rod and the inner rod are both hollow inside, and the inner hollow inside of the outer rod and the inner rod together constitute the dust suction channel; The lower end of the outer rod is fixedly arranged on the swing block, and the lower end opening of the outer rod is communicated with the suction port of the dust suction drive; The inner rod slides along the axis of the outer rod and is sealed and penetrates the inner rod, and the upper end of the inner rod is located outside the outer rod; the suction head is arranged on the upper end of the inner rod so as to rotate around a point, and the suction head is communicated with the upper end opening of the inner rod; The telescopic driver is fixedly arranged on the outside of the upper end of the outer rod; the telescopic driver has a rotating telescopic rotating gear, and a telescopic rack is fixedly arranged on the outer side wall of the inner rod, and the telescopic rotating gear is engaged with the telescopic rack for transmission.

3. The robot capable of cleaning walls and ceilings according to claim 1, characterized in that: The mobile adsorption mechanism includes an upper accommodating box and a lower adsorption box; The upper accommodating box is fixedly arranged above the lower adsorption box; The upper accommodating box is provided with a shelf hole, and a rotating support is provided in the upper accommodating box at a position corresponding to the shelf hole, and the turntable base is rotatably provided on the rotating support around the first axis; The rotary driver is arranged in the upper accommodating box; The lower adsorption box body has an adsorption cavity with an opening facing downward, and the lower opening of the adsorption cavity forms the bottom adsorption port; the upper accommodating box body is provided with a suction device, the suction port of the suction device is connected with the adsorption cavity, and the air outlet of the suction device is connected with the outside world; the walking wheel assembly includes two walkers, and the lower adsorption box body located on both sides of the adsorption cavity is provided with walking accommodating grooves, and each walker is located in one of the walking accommodating grooves; the walker has a rotating walking part; an elastic sealing ring gasket is provided below the bottom adsorption port; in the vertical direction, the lower end of the elastic sealing ring gasket protrudes from the lower end of the walking part.

4. The robot capable of cleaning walls and ceilings according to claim 3, characterized in that: The upper accommodating box is provided with a dust collection pipe, a dust collection fan and a dust collection box; One end of the dust collection pipe is connected to the outside, and the other end of the dust collection pipe is connected to one end of the dust collection box; The dust suction fan is arranged in the dust suction duct; One end of the dust collecting box away from the dust suction pipe is communicated with the lower end opening of the dust suction channel through a flexible connecting pipe; a filter screen is arranged in the dust collecting box.

5. The robot capable of cleaning walls and ceilings according to claim 4, characterized in that: The dust collection box includes a frame box and a pull-out side cover; The frame box is fixedly arranged in the upper accommodating box body, the frame box has a side opening, and the upper accommodating box body is provided with a drawer opening, the side opening corresponding to the drawer opening; The drawer side cover includes a side pull plate, an upper insert plate, and a lower insert plate; the upper insert plate is arranged in parallel with the lower insert plate, and the upper insert plate is located above the lower insert plate; the upper end of the side pull plate is fixedly connected to one end of the upper insert plate, and the lower end of the side pull plate is fixedly connected to one end of the lower insert plate; Slots are provided at the upper and lower ends of the frame box, and the upper plug-in plate and the lower plug-in plate are used to be fixedly plugged into the corresponding slots respectively; and the side pull plate can close the side opening of the frame box.

6. The robot capable of cleaning walls and ceilings according to claim 2, characterized in that: The suction head is provided with a connecting spherical groove, and the upper end of the inner rod is fixedly provided with a connecting universal ball, the connecting universal ball is located in the connecting spherical groove, and the connecting spherical groove can rotate around the center of the connecting universal ball; The upper end opening of the inner rod is connected and communicated with the suction head through a bellows.

7. The robot capable of cleaning walls and ceilings according to claim 3, characterized in that: The walking device includes a walking motor, a crawler belt, a driving wheel and a plurality of driven wheels; The lower adsorption box has a component installation cavity, and the component installation cavity is not connected to the adsorption cavity; The travel motor is fixedly arranged in the component installation cavity; the driving wheel and each driven wheel are rotatably arranged in the travel accommodating groove, and the travel motor is used to drive the driving wheel to rotate; the crawler belt is arranged on the outside of the driving wheel and each driven wheel.

8. The robot capable of cleaning walls and ceilings according to claim 7, characterized in that: The output end of the travel motor is fixedly provided with a first conical tooth, and the rotating shaft of the driving wheel is fixedly provided with a second conical tooth, and the first conical tooth is meshed with the second conical tooth.

9. The robot capable of cleaning walls and ceilings according to claim 1, characterized in that: The device further includes a controller, which is communicatively connected to the mobile adsorption mechanism and the dust collection mechanism, and is wirelessly connected to an external control device.

10. The robot capable of cleaning walls and ceilings according to claim 7, characterized in that: A plurality of first connection parts are provided around the lower end of the upper accommodating box, and a plurality of second connection parts are provided around the upper end of the lower adsorption box; A partition is provided between the lower end of the upper accommodating box and the upper end of the lower adsorption box, and a plurality of third connecting portions are provided around the partition; and the partition is capable of closing the upper end opening of the component installation cavity; The first connection portion, the second connection portion and the third connection portion are in one-to-one correspondence and are fixedly connected by a connecting member.

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