Intelligent cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, in particular to an intelligent cleaning robot. The device comprises a center body, an operation assembly is arranged in the middle of the center body and comprises a driving mechanism and an adsorption mechanism, and the front end and the rear end of a pump groove are connected with an adsorption front end set and an adsorption rear end set correspondingly. According to the device, the adsorption front end set is used for assisting the center body to conduct four-corner drawing adsorption, in the airflow suction process, the adsorption front end set can further block part of impurities, the adsorption rear end set is used for discharging drawn airflow in different directions, and the counter-acting force generated during discharging can assist the center body to be in a relatively balanced state; when the air flow is discharged, the adsorption rear end group can also compress the air flow, so that the temperature of the discharged air flow is increased, and when the heated air flow is sprayed on the inner wall of the pipeline body, dirt on the inner wall of the pipeline body can be softened.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to an intelligent cleaning robot. Background Art

[0002] In modern buildings, square pipes are widely used due to their unique structural characteristics. Square pipes have regular shapes and can make better use of space. For example, rainwater pipes on the exterior walls of high-rise buildings often adopt square structures. Square rainwater pipes on the exterior walls of high-rise buildings can be better integrated with the facade of the building, and are more beautiful in appearance. The cross-sectional area of ​​square pipes is relatively large, which can more effectively discharge rainwater and avoid rainwater accumulation in the pipes. Therefore, square rainwater pipes on the exterior walls of high-rise buildings have become an important part of the building drainage system.

[0003] Today's square rainwater pipes are the same as circular rainwater pipes and can be spliced ​​and combined according to actual needs. During the long-term use of rainwater pipes on the exterior walls of high-rise buildings, various dirt and impurities will accumulate inside. If they are not cleaned in time, the pipes may be blocked, affecting the normal discharge of rainwater. Because the rainwater pipes on the exterior walls of high-rise buildings are installed vertically and are relatively long, it is difficult for manpower to reach the inside of the high-altitude pipes. Therefore, when cleaning the inside of the rainwater pipes on the exterior walls of high-rise buildings, intelligent cleaning robots are used to assist in cleaning.

[0004] When cleaning the inside of rainwater pipes on the exterior walls of high-rise buildings, intelligent cleaning robots usually rely on the central adsorption force to overcome their own gravity so that they can run vertically inside the pipes. However, since rainwater pipes on the exterior walls of high-rise buildings need to adapt to the height of the floors and are made up of multiple pipe sections, there will be some uneven structures at the joints. This uneven structure will reduce the adsorption stability of the intelligent robot using the central adsorption driving mode. In addition, if there are relatively solid impurity bumps inside the rainwater pipe, it will also have a serious impact on the driving stability and cleaning effect of the cleaning robot. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent cleaning robot to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides an intelligent cleaning robot, comprising a robot body, the robot body comprising a central body, the outer wall of the central body is connected to a cleaning component for cleaning the inner wall of a pipe body, and the middle of the central body is provided with a running component, the running component can drive the central body to run vertically on the inner wall of the pipe body; The operation assembly includes a driving mechanism and an adsorption mechanism. The adsorption mechanism includes a pump groove opened in the middle of the central body. A pump body is installed inside the pump groove. The pump body is driven by a motor to operate. When the pump body operates, it can drive the central body to be adsorbed on the inner wall of the pipe body. At the same time, the driving mechanism is started, which can drive the central body to operate vertically on the inner wall of the pipe body in an adsorption manner. The front and rear ends of the pump groove are respectively connected with an adsorption front end group and an adsorption rear end group. The adsorption front end group is used to assist the central body in four-corner pumping adsorption. During the airflow suction process, the adsorption front end group can also block some impurities; the adsorption rear end group is used to discharge the pumped airflow in different directions. The reaction force generated during the discharge can assist the central body in a relatively balanced state. While the airflow is discharged, the adsorption rear end group can also compress the airflow to increase the temperature of the discharged airflow. When the heated airflow is sprayed on the inner wall of the pipe body, the dirt on the inner wall of the pipe body can be softened.

[0007] As a further improvement of the present technical solution, the cleaning assembly includes two clamping plates mounted on both sides of the central body, and the surfaces of the two clamping plates are provided with side brushes that can brush and clean the inner wall of the pipe body. A side groove is provided on the surface of the central body close to the driving mechanism, and the side groove is an annular structure. A connecting rod is provided on the inner wall of the side groove, and the other end of the connecting rod is movably connected to a loose-leaf brush plate.

[0008] As a further improvement of the present technical solution, the driving mechanism includes a driving cavity opened inside the central body, four connecting gears are rotatably arranged inside the driving cavity, and a track body is meshed on the surfaces of two connecting gears on the same side. Two adjacent connecting gears are connected by a shaft, and the shaft is located inside the driving cavity. The surfaces of the two track bodies extend out of the surface of the central body, and the loose-leaf brush plate is flush with the side of the track body extending out of the central body.

[0009] As a further improvement of the present technical solution, the adsorption front end group includes four front conveying pipes connected to the pump groove close to the side of the track body, and four adsorption grooves are opened on the surface of the central body. The four adsorption grooves are respectively located around the two track bodies. The four front conveying pipes are respectively connected to the four adsorption grooves, and filter plates are clamped at the openings of the four adsorption grooves.

[0010] As a further improvement of the present technical solution, the inner diameters of the four front conveying pipes on one side close to the adsorption tank are larger than the inner diameters of the side close to the pump tank. The difference in the inner diameters of the four front conveying pipes forms staggered grooves inside the four front conveying pipes. The staggered grooves can block some impurities during airflow conveying.

[0011] As a further improvement of the present technical solution, the adsorption rear end group includes four curved output pipes connected to the end of the pump slot, the four curved output pipes are located at the end of the pump slot away from the front delivery pipe, the ends of the four curved output pipes away from the pump slot are all connected to the thin-diameter tube, and two output holes are provided on the upper and lower sides of the central body, and the four output holes are respectively connected to the side of the four thin-diameter tubes away from the curved output pipe.

[0012] As a further improvement of the technical solution, two guide tubes are clamped and installed at the upper and lower ends of the central body, and the four guide tubes are respectively installed on the periphery of the four output holes to adjust the blowing direction of the airflow discharged by pumping.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. In this intelligent cleaning robot, there are four adsorption grooves and front delivery pipes, which are respectively located at the four corners of the central body. When the pump body is started, adsorption can be performed at the four corners. Since the rainwater pipes on the outer walls of high-rise buildings are composed of multiple pipe sections, there are uneven structures at the joints. When the robot body moves to the joints of the pipes, the adsorption forces at the four corners work together to increase the contact area with the inner wall of the pipe, so that the robot body can better overcome the impact of the uneven structure during operation, greatly improving the stability and reliability of the robot running in the vertical pipe.

[0014] 2. In this intelligent cleaning robot, the inner diameters at both ends of the four front delivery pipes are different, so that a staggered groove structure can be formed in the front delivery pipes. When the gas is pumped through the front delivery pipes, the staggered grooves can effectively block some impurities in the gas, which can reduce some impurities from entering the subsequent pump body and other key components, thereby extending the service life of the equipment.

[0015] 3. In this intelligent cleaning robot, after the gas pumped by the pump body enters the end of the pump slot, it will be diverted into four curved output pipes for discharge. The openings of these four curved output pipes are located at the four corners of the central body respectively. Combined with the position distribution of the four ends, a reaction force can be generated when the gas is discharged. This reaction force makes the robot body run more stably in the pipe body. In addition, when the airflow passes through the curved curved output pipe, it will heat up due to friction. When the temperature-raised gas is sprayed on the inner wall of the pipe body, it can effectively soften the dirt, greatly improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the main structure of the robot of the present invention; Figure 2 It is a schematic diagram of the structure of the robot body of the present invention running in the square pipe body; Figure 3It is a schematic diagram of the structure of the cleaning component of the present invention; Figure 4 It is a schematic diagram of the driving mechanism structure of the present invention; Figure 5 It is a schematic diagram of the operation structure of the adsorption front-end group of the present invention; Figure 6 For the present invention Figure 5 A schematic diagram of the structure at A; Figure 7 It is a schematic diagram of the operation structure of the adsorption back-end group of the present invention; Figure 8 For the present invention Figure 7 Schematic diagram of the structure at point B.

[0017] The meaning of each number in the figure is: 1. Robot body; 10. Pipeline body; 11. Center body; 12. Cleaning component; 13. Operation component; 121, side brush; 122, snap-on plate; 123, side groove; 124, connecting rod; 125, loose-leaf brush plate; 2. Driving mechanism; 21. Driving chamber; 22. Track body; 23. Connecting gear; 3. Adsorption mechanism; 31. Adsorption front end group; 32. Pump tank; 33. Pump body; 34. Adsorption rear end group; 311, adsorption tank; 312, front conveying pipe; 313, staggered tank; 341, curved output pipe; 342, narrow diameter pipe; 343, output hole; 4. Guide tube. DETAILED DESCRIPTION

[0018] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0019] Embodiment 1: See also Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 7 As shown, the purpose of this embodiment is to provide an intelligent cleaning robot, including a robot body 1, the robot body 1 includes a central body 11, the outer wall of the central body 11 is connected to a cleaning component 12 for cleaning the inner wall of a pipe body 10, and a running component 13 is arranged in the middle of the central body 11, and the running component 13 can drive the central body 11 to run vertically on the inner wall of the pipe body 10.

[0020] The operating component 13 includes a driving mechanism 2 and an adsorption mechanism 3. The adsorption mechanism 3 includes a pump groove 32 opened in the middle of the central body 11. A pump body 33 is installed inside the pump groove 32. The pump body 33 is driven by a motor. When the pump body 33 is running, it can drive the central body 11 to be adsorbed on the inner wall of the pipe body 10. At the same time, the driving mechanism 2 is started, which can drive the central body 11 to run vertically in an adsorption manner on the inner wall of the pipe body 10.

[0021] The front and rear ends of the pump groove 32 are respectively connected to the adsorption front end group 31 and the adsorption rear end group 34. The adsorption front end group 31 is used to assist the central body 11 in four-corner pumping adsorption. During the airflow suction process, the adsorption front end group 31 can also block some impurities.

[0022] The adsorption rear end group 34 is used to discharge the pumped airflow in different directions. The reaction force generated during the discharge can assist the central body 11 in a relatively balanced state. While the airflow is being discharged, the adsorption rear end group 34 can also compress the airflow so that the temperature of the discharged airflow can be increased. When the heated airflow is sprayed on the inner wall of the pipe body 10, the dirt on the inner wall of the pipe body 10 can be softened.

[0023] Since the robot body 1 runs inside the pipe body 10 in order to clean and decontaminate the inner wall of the pipe body 10, it is necessary to set a cleaning component 12 on the surface of the robot body 1. The cleaning component 12 includes two clamping plates 122 mounted on both sides of the central body 11. The surfaces of the two clamping plates 122 are provided with side brushes 121 that can brush and clean the inner wall of the pipe body 10. A side groove 123 is provided on the surface of the central body 11 close to the driving mechanism 2. The side groove 123 is an annular structure. A connecting rod 124 is provided on the inner wall of the side groove 123. The other end of the connecting rod 124 is movably connected to a loose-leaf brush plate 125.

[0024] Combination Figure 2 and Figure 3 As shown, a clamping plate 122 is movably installed on both sides of the central body 11, and a side brush 121 is provided at the side end of the clamping plate 122, which can clean the side of the pipe body 10 when the robot body 1 is running. At the same time, a side groove 123 is provided at one end of the central body 11 away from the two clamping plates 122, and the interior of the side groove 123 is movably connected to a loose-leaf brush plate 125 through a connecting rod 124. During the operation of the robot body 1, the loose-leaf brush plate 125 can comprehensively clean the inner wall of one side of the pipe body 10 as the robot moves. Furthermore, the coordinated use of the side brush 121 and the loose-leaf brush plate 125 can cover every corner of the inner wall of the pipe, ensuring that there are no dead angles in the cleaning, which greatly improves the comprehensiveness and thoroughness of the cleaning.

[0025] The above-mentioned clamping plate 122 is clamped to the side wall of the central body 11, and a wedge-shaped clamping groove is provided at the side end of the central body 11. A wedge-shaped slider matching with the clamping plate 122 is installed on the clamping plate 122, so that the clamping plate 122 can be clamped and connected with the side end of the central body 11. When the robot body 1 moves vertically, due to the effect of gravity, the wedge-shaped slider will wedge more tightly into the wedge-shaped clamping groove. The wedge-shaped design makes the clamping plate 122 generate a horizontal extrusion force when it is subjected to a downward force in the vertical direction, thereby making the clamping more firm, ensuring that the clamping plate 122 will not be easily loosened or fall off when the robot body 1 moves vertically. The above-mentioned loose-leaf brush plate 125 and the connecting rod 124 are also connected by snap connection, and bolt connection can be adopted here, using the existing technology, which will not be described in detail.

[0026] Since the robot body 1 needs to run as a whole inside the pipe body 10 when cleaning the inside of the vertical drainage pipe, the robot body 1 needs to be provided with a driving mechanism 2. Figure 4 The specific structure of the driving mechanism 2 is disclosed. The driving mechanism 2 includes a driving cavity 21 opened inside the central body 11. Four connecting gears 23 are rotatably arranged inside the driving cavity 21. A track body 22 is meshed on the surfaces of two connecting gears 23 on the same side. Two adjacent connecting gears 23 are connected by a shaft, and the shaft is located inside the driving cavity 21. The surfaces of the two track bodies 22 both extend out of the surface of the central body 11, and the loose-leaf brush plate 125 is flush with the side of the track body 22 extending out of the central body 11.

[0027] The driving of the central body 11 mainly relies on the cooperation of two crawler bodies 22. The two crawler bodies 22 are driven and started by a connecting gear 23. One of the connecting gears 23 is connected to the output shaft of the motor installed inside the central body 11. The connecting gears 23 on both sides are connected by a shaft, so as to ensure that the two crawler bodies 22 can run synchronously. For the environment with uneven structure and solid impurity bumps such as rainwater pipes on the outer wall of high-rise buildings, the crawler wheel structure can better adapt to it, increasing the stability of the robot operation. When encountering uneven structures at the joints of the pipes, the crawler can be adjusted according to the terrain changes to maintain good contact with the inner wall of the pipe. At the same time, the crawler has a strong grip and can overcome gravity and friction to ensure that the robot can stably go up or down in the vertical pipe for cleaning operations. Among them, the side of the crawler body 22 extending out of the central body 11 is flush with the loose-leaf brush plate 125, which ensures that the central body 11 can move smoothly without affecting the cleaning effect of the loose-leaf brush plate 125. When the robot runs in the rainwater pipe on the outer wall of a high-rise building, the position of the crawler body 22 will not interfere with the full contact between the loose-leaf brush plate 125 and the inner wall of the pipe, so that the loose-leaf brush plate 125 can effectively clean the inner wall of the pipe and remove dirt and impurities. At the same time, the flush state also ensures that the central body 11 will not be hindered by the positional relationship between the crawler body 22 and the loose-leaf brush plate 125 during movement, so that the robot can run stably and efficiently in the pipe, improving the efficiency and quality of the cleaning operation.

[0028] When the robot body 1 cleans the vertical pipe, it not only needs to move and operate on the inner wall of the pipe, but also needs to overcome the robot body 1's own gravity so that it can be adsorbed on the inner wall of the pipe body 10 for cleaning. The adsorption front end group 31 includes four front conveying pipes 312 connected to the pump groove 32 close to the track body 22. Four adsorption grooves 311 are opened on the surface of the central body 11. The four adsorption grooves 311 are respectively located around the two track bodies 22. The four front conveying pipes 312 are respectively connected to the four adsorption grooves 311, and the openings of the four adsorption grooves 311 are clamped with filter plates.

[0029] The inner diameter of the four front conveying pipes 312 on the side close to the adsorption groove 311 is larger than the inner diameter of the side close to the pump groove 32. The difference in the inner diameter of the four front conveying pipes 312 forms staggered grooves 313 inside the four front conveying pipes 312. The staggered grooves 313 can block some impurities during the airflow conveying process.

[0030] Embodiment 2: like Figure 5As shown, adsorption grooves 311 are provided at four corners of one side of the central body 11 close to the loose-leaf brush plate 125, and the adsorption grooves 311 are connected to four front delivery pipes 312, and the other ends of the four front delivery pipes 312 are connected to the pump grooves 32. When the robot body 1 needs to run, the motor connected to the pump body 33 is turned on (the motor is connected to the inside of the other end of the central body 11, not shown in the figure), so that the pump body 33 operates at high speed. At this time, the adsorption force generated by the pump body 33 will be transmitted to the adsorption grooves 311 through the front delivery pipes 312, so that the central body 11 is adsorbed on the inner wall of the pipe body 10; in the rainwater pipes on the exterior walls of high-rise buildings, since the pipes are composed of multiple sections, there are inevitably inconsistencies in the joints. Flat structure. In this case, the four adsorption points work together to increase the contact area with the inner wall of the pipe, so that the adsorption force is more evenly distributed between the central body 11 and the inner wall of the pipe body 10. When the robot passes through the connection of the pipe body 10, even if it encounters an uneven surface, the four-corner adsorption can ensure that the central body 11 will not shake or detach easily. At the same time, the four-corner adsorption can provide support in different directions, effectively resisting the external force interference caused by the unevenness of the pipe, improving the adaptability and reliability of the robot body 1 in a complex pipe environment, ensuring that the cleaning operation can proceed smoothly, reducing the risk of cleaning interruption or equipment damage due to unstable adsorption, and improving cleaning efficiency and quality.

[0031] See also Figure 4 It can be seen that the openings of the four adsorption tanks 311 are all equipped with filter plates. In order to reduce the adsorption of large pieces of impurities on the surface of the filter plates and affect the adsorption stability of the central body 11, the holes of the filter plates are designed to be larger. Figure 6 It can be seen that the inner diameter of the side of the front delivery pipe 312 close to the adsorption groove 311 is larger than the inner diameter of the side close to the pump groove 32, so that the inside of the front delivery pipe 312 can form a staggered groove 313. When the gas is pumped through the front delivery pipe 312, the staggered groove 313 structure can block some impurities during the airflow pumping process. The reason is that when the airflow containing impurities enters the front delivery pipe 312 from the adsorption groove 311 through the filter plate, the flow rate of the airflow will change due to the change in the inner diameter. The airflow rate on the side with the larger inner diameter is relatively slow, while the flow rate on the side with the smaller inner diameter close to the pump groove 32 will increase. When the impurities are driven by the airflow, when encountering such a change in the inner diameter, due to the effect of inertia, larger impurity particles are difficult to follow the acceleration of the airflow and pass smoothly, and will be blocked at the staggered groove 313, effectively reducing the impurities entering the pump groove 32 and the pump body 33, reducing the risk of equipment being damaged by impurities, and extending the service life of key components such as the pump.

[0032] When the staggered grooves 313 are in the process of blocking impurities, if there are too many impurities blocked, it will affect the pumping effect of the airflow. Therefore, it is necessary to clean the staggered grooves 313 at intervals. The cleaning method of the staggered grooves 313 can be to disassemble the filter plate and then extend the soft pipe into the interior of the front conveying pipe 312 for vacuum cleaning (here is just an example of one of the cleaning methods).

[0033] When the robot body 1 is fixed by adsorption, it is also necessary to discharge the sucked air through the adsorption rear end group 34. The adsorption rear end group 34 includes four curved output pipes 341 connected to the end of the pump groove 32. The four curved output pipes 341 are located at the end of the pump groove 32 away from the front delivery pipe 312. The ends of the four curved output pipes 341 away from the pump groove 32 are all connected to the thin-diameter tube 342. Two output holes 343 are provided on the upper and lower sides of the central body 11. The four output holes 343 are respectively connected to the side of the four thin-diameter tubes 342 away from the curved output pipe 341.

[0034] Embodiment 3: See also Figure 7 As shown, four curved output pipes 341 are provided in the middle of the central body 11, and one end of the four curved output pipes 341 close to the output hole 343 is connected to a thin-diameter pipe 342. This design allows the gas extracted from the pump body 33 to be evenly dispersed into the four curved output pipes 341 for discharge. Since the four curved output pipes 341 are symmetrically provided and have the same inner diameter, this means that when the gas is discharged, the air flow velocity and flow rate in each pipe are basically the same. According to Newton's third law, each action force has an equal and opposite reaction force. When the gas is discharged from the four symmetrical curved output pipes 341 at high speed, the reaction forces generated offset each other in magnitude and direction to achieve a state of equilibrium. This balanced reaction force balances the forces exerted on the robot body 1 in various directions, thereby making it more stable during operation. Especially in a complex environment such as a rainwater pipe on the outer wall of a high-rise building, the robot may be disturbed by external forces in different directions, and the balanced reaction force can effectively resist these disturbances, ensuring that the robot can run stably along a predetermined trajectory.

[0035] When the gas is discharged through multiple bends and the narrow-diameter tube 342, the temperature will rise. The reason is that when the gas flows in multiple bends, the friction between the gas molecules and the bend tube wall intensifies. According to the principle of frictional heat generation, the internal energy of the gas increases and the temperature rises. At the same time, the narrow-diameter tube 342 accelerates the gas flow rate. According to Bernoulli's principle, the increased flow rate will lead to a decrease in pressure, and the decrease in pressure will further increase the temperature of the gas. When the heated gas is sprayed on the inner wall of the pipeline body 10, it can soften some dirt composed of sticky substances on the inner wall of the pipeline body 10 (such as biofilms, rotten organic matter and other impurities), and the airflow blown out from the four corners can also achieve the effect of blowing away impurities, effectively improving the cleaning effect.

[0036] The robot body 1 in the present application is an intelligent robot, and its intelligence is mainly reflected in many aspects: first, by adsorbing on the inner wall of the pipe through the four corners, it can automatically adjust the adsorption force to adapt to different environments to ensure the stable operation of the robot body 1. If the inner wall of the pipe body 10 is uneven, the adsorption force can be adjusted automatically. Secondly, the bend output pipe 341 is symmetrically opened and has the same inner diameter, so that the reaction force generated by the exhaust gas is balanced, making the robot body 1 run more stably. At the same time, the temperature rise characteristic of the gas discharged through multiple bends and the thin-diameter pipe 342 is utilized to automatically soften the sticky dirt on the inner wall of the pipe, thereby improving the cleaning effect. Finally, the various components of the entire system work together, the track body 22, the loose-leaf brush plate 125, the adsorption mechanism 3 and the bend output pipe 341 cooperate with each other, and the pipeline cleaning task can be completed without manual coordination, and it can adapt to pipeline environments of different materials, shapes and sizes, reflecting a wide range of adaptability and flexibility.

[0037] Considering that the airflow discharged from the output hole 343 is not convenient to be accurately sprayed on the inner wall of the pipe body 10, in order to further control the airflow discharge direction, two guide tubes 4 are clamped and installed at the upper and lower ends of the central body 11. The four guide tubes 4 are respectively installed on the periphery of the four output holes 343, and are used to adjust the blowing direction of the airflow discharged by pumping.

[0038] Embodiment 4: The improvement lies in: combining Figure 8 As shown, after the airflow is ejected from the output hole 343, it will enter the guide tube 4. The inner wall of the guide tube 4 exerts a force on the airflow, causing the airflow to change direction according to the shape and angle of the guide tube 4, thereby accurately blowing toward the inner wall of the pipe body 10. The blowing direction of the airflow discharged by the pumping is adjusted to ensure that the heated gas can be accurately sprayed on the inner wall of the pipe body 10.

[0039] Among them, the guide tube 4 is snap-fitted and installed on the surface of the central body 11. According to different pipeline sizes, shapes and cleaning requirements, a suitable guide tube 4 can be selected for snap-fitting and installation to achieve the best airflow discharge direction adjustment effect and improve the adaptability and cleaning efficiency of the cleaning robot in various complex pipeline environments. The snap-fit ​​structure of the guide tube 4 adopts the existing technology and will not be elaborated here.

[0040] In summary, the working principle of this solution is as follows: when the robot body 1 is running, its moving driving force mainly relies on the two crawler bodies 22 to cooperate with each other, and the two crawler bodies 22 are driven and started by the connecting gears 23, one of which is connected to the motor output shaft installed inside the central body 11, and the connecting gears 23 on both sides are connected by shafts, so as to ensure that the two crawler bodies 22 can run synchronously. For the environment with uneven structure and solid impurity bumps such as the rainwater pipe on the outer wall of a high-rise building, the crawler wheel structure can better adapt, thereby increasing the stability of the robot operation; During the driving process, the motor connected to the pump body 33 is turned on to cause the pump body 33 to operate at high speed. At this time, the adsorption force generated by the pump body 33 will be transmitted to the adsorption groove 311 through the front delivery pipe 312, so that the central body 11 is adsorbed on the inner wall of the pipe body 10; in the rainwater pipe on the outer wall of a high-rise building, since the pipe is composed of multiple sections, there is inevitably an uneven structure at the connection. In this case, the four adsorption points work together to increase the contact area with the inner wall of the pipe, so that the adsorption force is more evenly distributed between the central body 11 and the inner wall of the pipe body 10. When the robot passes through the connection of the pipe body 10, even if it encounters an uneven surface, the four-corner adsorption can ensure that the central body 11 will not shake or detach easily. At the same time, the four-corner adsorption can provide support in different directions, effectively resist the external force interference caused by the unevenness of the pipe, and improve the adaptability and reliability of the robot body 1 in a complex pipe environment.

[0041] When the pumped gas is discharged, it can be evenly dispersed to the inside of the four curved output pipes 341 for discharge. Since the four curved output pipes 341 are symmetrically opened and have the same inner diameter, this means that when the gas is discharged, the air flow velocity and flow rate in each pipe are basically the same, reaching a balanced state. This balanced reaction force makes the forces exerted on the robot body 1 in various directions balanced with each other, so that it is more stable during operation. When the gas is discharged through multiple bends and the narrow-diameter pipe 342, it will heat up. When the heated gas is sprayed on the inner wall of the pipe body 10, it can soften the dirt composed of some sticky substances on the inner wall of the pipe body 10. The airflow blown out from the four corners can also achieve the effect of blowing away impurities, effectively improving the cleaning effect.

[0042] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent cleaning robot, comprising a robot body (1), wherein the robot body (1) comprises a central body (11), and is characterized in that: The outer wall of the central body (11) is connected to a cleaning component (12) for cleaning the inner wall of the pipeline body (10); a running component (13) is arranged in the middle of the central body (11); the running component (13) can drive the central body (11) to run vertically on the inner wall of the pipeline body (10); The operating component (13) comprises a driving mechanism (2) and an adsorption mechanism (3); the adsorption mechanism (3) comprises a pump groove (32) provided in the middle of the central body (11); a pump body (33) is installed inside the pump groove (32); the pump body (33) is driven by a motor to operate; when the pump body (33) is in operation, it can drive the central body (11) to be adsorbed on the inner wall of the pipe body (10); at the same time, the driving mechanism (2) is started, which can drive the central body (11) to operate vertically in an adsorption-type manner on the inner wall of the pipe body (10); The front and rear ends of the pump groove (32) are respectively connected to an adsorption front group (31) and an adsorption rear group (34); the adsorption front group (31) is used to assist the central body (11) in performing four-corner pumping adsorption; during the airflow adsorption process, the adsorption front group (31) can also block some impurities; The adsorption rear end group (34) is used to discharge the pumped airflow in different directions. The reaction force generated during the discharge can assist the central body (11) to be in a relatively balanced state. While the airflow is being discharged, the adsorption rear end group (34) can also compress the airflow, so that the temperature of the discharged airflow is increased. When the heated airflow is sprayed on the inner wall of the pipe body (10), the dirt on the inner wall of the pipe body (10) can be softened.

2. The intelligent cleaning robot according to claim 1, characterized in that: The cleaning assembly (12) comprises two clamping plates (122) clamped and mounted on both sides of the central body (11); the surfaces of the two clamping plates (122) are provided with side brushes (121) capable of brushing and cleaning the inner wall of the pipe body (10); a side surface of the central body (11) close to the driving mechanism (2) is provided with a side groove (123); the side groove (123) is an annular structure; a connecting rod (124) is provided on the inner wall of the side groove (123); the other end of the connecting rod (124) is movably connected to a loose-leaf brush plate (125).

3. The intelligent cleaning robot according to claim 2, characterized in that: The driving mechanism (2) comprises a driving cavity (21) opened inside the central body (11), four connecting gears (23) are rotatably arranged inside the driving cavity (21), and a track body (22) is meshed on the surfaces of two connecting gears (23) on the same side, and two adjacent connecting gears (23) are connected via a shaft, and the shaft is located inside the driving cavity (21), and the surfaces of the two track bodies (22) both extend out of the surface of the central body (11), and the loose-leaf brush plate (125) is flush with the side of the track body (22) extending out of the central body (11).

4. The intelligent cleaning robot according to claim 3, characterized in that: The adsorption front end group (31) comprises four front delivery pipes (312) connected to a side of the pump groove (32) close to the crawler body (22); four adsorption grooves (311) are provided on the surface of the central body (11); the four adsorption grooves (311) are respectively located around the two crawler bodies (22); the four front delivery pipes (312) are respectively connected to the four adsorption grooves (311); and filter plates are clamped at the openings of the four adsorption grooves (311).

5. The intelligent cleaning robot according to claim 4, characterized in that: The inner diameter of the four front conveying pipes (312) on the side close to the adsorption groove (311) is greater than the inner diameter of the side close to the pump groove (32). The difference in the inner diameter of the four front conveying pipes (312) enables staggered grooves (313) to be formed inside the four front conveying pipes (312). The staggered grooves (313) can block some impurities during airflow conveying.

6. The intelligent cleaning robot according to claim 4, characterized in that: The adsorption rear end group (34) comprises four curved output pipes (341) connected to the end of the pump groove (32); the four curved output pipes (341) are located at one end of the pump groove (32) away from the front delivery pipe (312); the ends of the four curved output pipes (341) away from the pump groove (32) are all connected to the thin-diameter pipe (342); the upper and lower sides of the central body (11) are each provided with two output holes (343); the four output holes (343) are respectively connected to one side of the four thin-diameter pipes (342) away from the curved output pipe (341).

7. The intelligent cleaning robot according to claim 6, characterized in that: Two guide tubes (4) are mounted on both upper and lower ends of the central body (11), and the four guide tubes (4) are respectively mounted on the peripheries of the four output holes (343) to adjust the blowing direction of the airflow discharged by pumping.

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