Wind power blade operation and maintenance robot based on intermittent vacuum adsorption device

Abstract

The invention provides a wind power blade operation and maintenance robot based on an intermittent vacuum adsorption device, and relates to the field of wind power operation and maintenance, the wind power blade operation and maintenance robot comprises a moving chassis, a frame, an intermittent negative pressure adsorption device, a lifting platform, a cleaning device and a polishing device; the moving chassis is driven by four independent suspension type rubber wheels, and the frame is fixedly mounted on the moving chassis; the two intermittent negative pressure adsorption devices are symmetrically installed on the two sides of the vehicle frame and used for fixing the operation position of the robot on the wind power blade. The lifting platform is installed on the frame and comprises a double-rod air cylinder used for driving the lifting platform to ascend and descend. The cleaning device and the polishing device are detachably installed on the lifting platform. The device can stably walk on the wind power blade and carry out efficient operation and maintenance work.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power operation and maintenance robots, and more particularly, to a wind turbine blade operation and maintenance robot based on an intermittent vacuum adsorption device. Background Art

[0002] Wind power generation is the main force of clean energy. As an environmentally friendly and clean green energy, wind power generation does not require fuel, has no radiation, and does not produce air pollution during the process, and has advantages in optimizing the energy structure, improving the ecological environment, and promoting the sustainable and harmonious development of society and economy. Wind power is one of the three new energy sources that China focuses on developing. Wind power generation plays an extremely important role in aspects such as the country's getting rid of dependence on fossil energy, alleviating energy shortages, improving the ecological environment, and expanding social benefits.

[0003] Currently, most of the methods for wind turbine blade inspection and maintenance are mainly manual. For offshore wind power equipment, this operation and maintenance method has problems such as high cost, high danger, and long time. Therefore, many domestic and foreign technology companies have started to develop wind turbine tower or blade operation and maintenance robots, and their main functions include damage detection, cleaning, grinding, spraying, etc.; and most of them are mainly magnetic adsorption, and there are also some multi-legged negative pressure adsorption blade robots. Such robots are difficult to develop and have high requirements for control operation technology, and it is difficult to popularize in the market.

[0004] Facing the above problems, there is an urgent need for a robot that can walk stably on wind turbine blades and perform inspection and repair. Summary of the Invention

[0005] In view of the technical problems existing in the current wind turbine blade inspection and maintenance methods mentioned above, a wind turbine blade operation and maintenance robot based on an intermittent vacuum adsorption device is provided.

[0006] The technical means adopted by the present invention are as follows:

[0007] A wind turbine blade operation and maintenance robot based on an intermittent vacuum adsorption device includes a moving chassis, a frame, an intermittent negative pressure adsorption device, a lifting platform, a cleaning device, and a grinding device;

[0008] The moving chassis is driven by four independent suspension rubber wheels, and the frame is made of square profiles and is fixedly installed on the moving chassis through angle irons;

[0009] Two of the intermittent negative pressure adsorption devices are symmetrically installed on both sides of the frame. The intermittent negative pressure adsorption device includes two suction cups that intermittently and alternately adsorb on the wind turbine blade, and the intermittent negative pressure adsorption device is used to fix the operation position of the robot on the wind turbine blade;

[0010] The lifting platform is installed on the vehicle frame and includes a double-rod cylinder for driving the lifting of the lifting platform; the cleaning device and the grinding device are detachably installed on the lifting platform, and the double-rod cylinder is used to drive the lifting of the cleaning device or the grinding device by driving the lifting of the lifting platform.

[0011] Further, the intermittent negative pressure adsorption device include a sucker cylinder, an intermediate gear, a nozzle, a sucker mounting plate, a transmission rack and suckers;

[0012] The sucker cylinder is fixedly installed on the vehicle frame; the sucker mounting plate is fixedly connected to the cylinder rod of the sucker cylinder, and the sucker cylinder is used to drive the sucker mounting plate to move up and down, so as to adjust the height of the sucker; the sucker is provided with the nozzle for making the sucker ventilated or evacuated;

[0013] One elongated mounting hole is respectively formed on both sides of the sucker mounting plate, and one sucker is installed in each mounting hole. The sucker is slidably installed in the mounting hole through a sucker rod and a bolt;

[0014] The intermediate gear is located below the sucker mounting plate and is rotatably installed on the cylinder rod of the sucker cylinder through a bearing;

[0015] Each sucker has a corresponding transmission rack, and one end of the transmission rack is fixedly installed on the sucker rod of the sucker; the rack structures on the two transmission racks are opposite, and the intermediate gear meshes with the rack structures on the two transmission racks.

[0016] Further, the lifting platform further includes a platform bottom plate, linear slide rails, sliders and a connecting plate; the cylinder rods of the double-rod cylinder are fixedly installed on the vehicle frame, and the cylinder body is fixedly connected to the platform bottom plate. The platform bottom plate is vertically installed on the vehicle frame through the double-rod cylinder and is driven by the cylinder rods of the double-rod cylinder to lift; two vertical linear slide rails are symmetrically installed on both sides of the front surface of the platform bottom plate; two sliders are slidably installed on each linear slide rail, and a connecting plate is fixedly installed on the two sliders; the cleaning device and the grinding device are detachably installed on the connecting plate and can move up and down along the linear slide rail with the sliders.

[0017] Further, the cleaning device includes a driving motor, a belt pulley transmission group, a cleaning mounting plate, a water spraying rack, water spraying nozzles, and a disk brush; the cleaning mounting plate is used for detachably connecting with the lifting platform; the driving motor and the water spraying rack are both fixedly installed on the cleaning mounting plate; the water spraying nozzles are fixedly installed on the water spraying rack and are used for spraying water during cleaning; the belt pulley transmission group includes a transmission belt and a plurality of transmission wheels, the belt is sleeved outside all the transmission wheels, the transmission wheels are rotationally installed on the cleaning mounting plate through rotating shafts and bearings, and the rotating shaft of one of the transmission wheels is fixedly connected with the output shaft of the driving motor; a disk brush is installed at the bottom of the rotating shaft of each transmission wheel.

[0018] Further, the grinding device includes a linear slide, a rotary slide, and a grinding machine; the linear slide is used for detachably connecting with the lifting platform; the rotary slide is fixedly installed on the sliding part of the linear slide through a mounting plate, and the linear slide is used for driving the rotary slide to move horizontally through the sliding part; the grinding machine is fixedly installed on the rotating part of the rotary slide, and the rotary slide is used for adjusting the grinding angle of the grinding machine; the grinding machine is used for grinding the surface of the wind power blade.

[0019] Further, it further includes an air compressor, a water pump, a vacuum generator, and a battery module; the air compressor, the water pump, the vacuum generator, and the battery module are all fixedly installed on the vehicle frame; the air compressor is used for providing working air pressure for the suction cup and the double-rod cylinder; the water pump is used for providing water for the cleaning device; the vacuum generator is used for converting atmospheric pressure into negative pressure to make the suction cup evacuate; the battery module is installed on the moving chassis and is used for providing a power source for the operation and maintenance robot.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] The wind power blade operation and maintenance robot based on the intermittent vacuum adsorption device provided by the present invention adopts the cooperation of a suspended trolley chassis and an intermittent negative pressure adsorption device to realize the stable walking of the robot on the wind power blade, and uses a detachable cleaning device and a grinding device to work on the blade, which can effectively improve the working efficiency.

[0022] For the above reasons, the present invention can be widely promoted in the field of wind power operation and maintenance robots. Description of the Drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 This is a schematic structural diagram of the wind turbine blade operation and maintenance robot based on the intermittent negative pressure adsorption device of the present invention.

[0025] Figure 2 This is a schematic structural diagram of the intermittent negative pressure adsorption device of the present invention.

[0026] Figure 3 This is a schematic structural diagram of the lifting platform and the cleaning device of the present invention.

[0027] Figure 4 This is a schematic structural diagram of the grinding device of the present invention.

[0028] Figure 5 This is a schematic diagram of the working process of the intermittent vacuum adsorption device of the present invention.

[0029] In the figure: 1. Lifting platform; 101. Connecting plate; 102. Linear slide rail; 103. Double-rod cylinder; 104. Platform bottom plate; 105. Slide block; 2. Cleaning device; 201. Driving motor; 202. Belt drive group; 203. Cleaning mounting plate; 204. Spraying rack; 205. Spraying nozzle; 206. Disk brush; 3. Intermittent negative pressure adsorption device; 301. Suction cup cylinder; 302. Intermediate gear; 303. Air nozzle; 304. Suction cup mounting plate; 305. Driving rack; 306. Suction cup; 4. Moving chassis; 5. Battery module; 6. Vacuum generator; 7. Water pump; 8. Air compressor; 9. Grinding device; 901. Rotary slide; 902. Linear slide; 903. Grinder. Specific embodiments

[0030] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine with the embodiments to detail the present invention.

[0031] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. The description of at least one exemplary embodiment below is actually only illustrative and in no way restricts the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments of the present invention. As used herein, unless otherwise clearly specified in the context, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0033] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0034] In the description of the present invention, it should be understood that the orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. generally refer to the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the scope of protection of the present invention: the orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0035] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. can be used here to describe the spatial positional relationship between a device or feature shown in the figure and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the figure for the device. For example, if the device in the attached figure is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations are made for the spatial relative descriptions used here.

[0036] In addition, it should be noted that the use of words such as "first", "second" etc. to define components is only for the convenience of differentiating the corresponding components. Without additional statements, the above words have no special meanings, and thus cannot be understood as limiting the protection scope of the present invention.

[0037] Embodiment 1

[0038] As Figures 1-4 shown, the present invention provides a wind turbine blade operation and maintenance robot based on an intermittent vacuum adsorption device, including a moving chassis 4, a vehicle frame, an intermittent negative pressure adsorption device 3, a lifting platform 1, a cleaning device 2 and a grinding device 9;

[0039] The moving chassis 4 is driven by four independent suspended rubber wheels, and the vehicle frame is made of square profiles and fixedly installed on the moving chassis 4 through angle irons;

[0040] Two of the intermittent negative pressure adsorption devices 3 are symmetrically installed on both sides of the vehicle frame. The intermittent negative pressure adsorption device 3 includes two suction cups 306 that intermittently and alternately adsorb on the wind turbine blade, and the intermittent negative pressure adsorption device 3 is used to fix the operation position of the robot on the wind turbine blade;

[0041] The lifting platform 1 is installed on the vehicle frame and includes a double-rod cylinder 103 for driving the lifting of the lifting platform 1; the cleaning device 2 and the grinding device 9 are detachably installed on the lifting platform 1, and the double-rod cylinder 103 is used to drive the lifting of the cleaning device 2 or the grinding device 9 by driving the lifting of the lifting platform 1.

[0042] Further, the intermittent negative pressure adsorption device 3 includes a suction cup cylinder 301, an intermediate gear 302, a nozzle 303, a suction cup mounting plate 304, a transmission rack 305 and a suction cup 306;

[0043] The suction cup cylinder 301 is fixedly installed on the vehicle frame; the suction cup mounting plate 304 is fixedly connected to the cylinder rod of the suction cup cylinder 301, and the suction cup cylinder 301 is used to drive the suction cup mounting plate 304 to move up and down, so as to adjust the height of the suction cup 306; the suction cup 306 is provided with the air nozzle 303 for ventilating or evacuating the suction cup 306.

[0044] A long strip-shaped mounting hole is respectively formed on both sides of the suction cup mounting plate 304, and each mounting hole is internally provided with a suction cup 306. The suction cup 306 is slidably mounted in the mounting hole through a suction cup rod and a bolt, and bolts are respectively mounted on the upper and lower sides of the suction cup mounting plate 304 on the suction cup rod.

[0045] The intermediate gear 302 is located below the suction cup mounting plate 304 and is rotatably mounted on the cylinder rod of the suction cup cylinder 301 through a bearing.

[0046] Each suction cup 306 has a corresponding transmission rack 305. One end of the transmission rack 305 is fixedly installed on the suction cup rod of the suction cup 306; the rack structures on the two transmission racks 305 are opposite, and the intermediate gear 302 is meshed with the rack structures on the two transmission racks 305.

[0047] Furthermore, the lifting platform 1 further includes a platform bottom plate 104, linear slide rails 102, sliders 105 and a connecting plate 101; the cylinder rods of the double-rod cylinder 103 are fixedly installed on the vehicle frame, and the cylinder body is fixedly connected to the platform bottom plate 104. The platform bottom plate 104 is vertically installed on the vehicle frame through the double-rod cylinder 103 and is driven by the cylinder rods of the double-rod cylinder 103 to lift; two vertical linear slide rails 102 are symmetrically installed on both sides of the front surface of the platform bottom plate 104; two sliders 105 are slidably installed on each linear slide rail 102, and a connecting plate 101 is fixedly installed on the two sliders 105; the cleaning device 2 and the grinding device 9 are detachably installed on the connecting plate 101 and can move up and down along the linear slide rails 102 with the sliders 105.

[0048] Further, the cleaning device 2 includes a driving motor 201, a belt pulley transmission group 202, a cleaning mounting plate 203, a water spraying frame 204, water spraying nozzles 205 and a disc brush 206; the cleaning mounting plate 203 is used for detachably connecting with the connecting plate 101 of the lifting platform 1; the driving motor 201 and the water spraying frame 204 are both fixedly installed on the cleaning mounting plate 203; the water spraying nozzles 205 are fixedly installed on the water spraying frame 204 and are used for spraying water during cleaning; the belt pulley transmission group 202 includes a transmission belt and a plurality of transmission wheels, the belt is sleeved outside all the transmission wheels, the transmission wheels are rotationally installed on the cleaning mounting plate 203 through a rotating shaft and a bearing, and the rotating shaft of one of the transmission wheels is fixedly connected with the output shaft of the driving motor 201; a disc brush 206 is installed at the bottom of the rotating shaft of each transmission wheel.

[0049] Further, the grinding device 9 includes a linear slide 902, a rotary slide 901 and a grinding machine 903; the linear slide 902 is used for detachably connecting with the connecting plate 101 of the lifting platform 1; the rotary slide 901 is fixedly installed on the sliding part of the linear slide 901 through a mounting plate, and the linear slide 902 is used for driving the rotary slide 901 to move horizontally through the sliding part; the grinding machine 903 is fixedly installed on the rotating part of the rotary slide 901, and the rotary slide 901 is used for adjusting the grinding angle of the grinding machine 903; the grinding machine 903 is used for grinding the welds, rusts, etc. on the surface of the wind power blade.

[0050] Further, an air compressor 8, a water pump 7, a vacuum generator 6 and a battery module 5 are further included; the air compressor 7, the water pump 8, the vacuum generator 6 and the battery module 5 are all fixedly installed on the vehicle frame; the air compressor 7 is used for providing working air pressure for the suction cup 306 and the double-rod cylinder 103; the water pump 8 is used for providing water with a certain pressure for the water spraying nozzles 205 of the cleaning device 2; the vacuum generator 6 is used for converting the atmospheric pressure into negative pressure to make the suction cup 306 in a vacuum state; the battery module 5 is installed on the moving chassis 4 and is used for providing a power source for the operation and maintenance robot.

[0051] As Figure 5 shown, the working process of the wind power blade operation and maintenance robot based on the intermittent vacuum adsorption device of the present invention is as follows:

[0052] Step 1: The operation and maintenance robot is put onto the wind power blade through a sling or a drone;

[0053] Step 2: First, adjust the height of the suction cup 306 through the suction cup cylinder 301, and then manually adjust the suction cup 306 to Figure 5The front initial position in it makes the front suction cup 306 at the front end of the mounting hole and the rear suction cup 306 at the rear end of the mounting hole. Vacuumize the front suction cup 306 to make it adsorb on the surface of the wind turbine blade, and ventilate the rear suction cup 306 to make it slide on the surface of the wind turbine blade;

[0054] Step 3: Taking the cleaning operation of the wind turbine blade as an example, install the cleaning device 2 on the lifting platform 1, adjust the position of the cleaning device 2 through the lifting platform 1 to make it reach the surface of the wind turbine blade, and start working; when it is necessary to move to the next working surface, make the robot move forward. The front suction cup 306 does not move during adsorption. Under the meshing drive of the intermediate gear 302 and the transmission racks 305 on the two suction cups 306, the rear suction cup 306 moves forward, the suction cup mounting plate 304 follows the robot to move forward, and the front suction cup 306 moves backward relative to the suction cup mounting plate 304 to the rear end of the mounting hole, and the rear suction cup 306 is at the front end of the mounting hole, that is Figure 5 the rear initial position in it;

[0055] Step 4: When it is necessary to move to the next working surface, for the rear initial position, ventilate the front suction cup 306 to make it slide on the surface of the wind turbine blade, and vacuumize the rear suction cup 306 to make it adsorb on the surface of the wind turbine blade, and repeat this process. Through the intermittent operation of the front and rear suction cups 306 in the intermittent negative pressure adsorption device 3, the safe and stable movement of the robot is realized.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wind power blade operation and maintenance robot based on an intermittent vacuum adsorption device, characterized in that, It includes a moving chassis, a frame, an intermittent negative pressure adsorption device, a lifting platform, a cleaning device and a grinding device; The moving chassis is driven by four independent suspended rubber wheels. The frame is made of square profiles and is fixedly installed on the moving chassis through angle irons; Two of the intermittent negative pressure adsorption devices are symmetrically installed on both sides of the frame. The intermittent negative pressure adsorption device includes two suction cups that intermittently and alternately adsorb on the wind turbine blade. The intermittent negative pressure adsorption device is used to fix the working position of the robot on the wind turbine blade; The lifting platform is installed on the frame and includes a double-rod cylinder for driving the lifting of the lifting platform. The cleaning device and the grinding device are detachably installed on the lifting platform. The double-rod cylinder is used to drive the lifting of the cleaning device or the grinding device by driving the lifting of the lifting platform.

2. The wind turbine blade operation and maintenance robot based on the intermittent vacuum adsorption device according to claim 1, characterized in that, The intermittent negative pressure adsorption device includes a suction cup cylinder, an intermediate gear, a nozzle, a suction cup mounting plate, a transmission rack and a suction cup. The suction cup cylinder is fixedly installed on the frame. The suction cup mounting plate is fixedly connected to the cylinder rod of the suction cup cylinder. The suction cup cylinder is used to drive the suction cup mounting plate to move up and down, so as to adjust the height of the suction cup. The suction cup is provided with the nozzle for making the suction cup ventilate or evacuate. Long strip-shaped mounting holes are respectively opened on both sides of the suction cup mounting plate, and one suction cup is installed in each mounting hole. The suction cup is slidably installed in the mounting hole through a suction cup rod and a bolt. The intermediate gear is located below the suction cup mounting plate and is rotatably installed on the cylinder rod of the suction cup cylinder through a bearing. Each suction cup has a corresponding transmission rack. One end of the transmission rack is fixedly installed on the suction cup rod of the suction cup. The rack structures on the two transmission racks are opposite, and the intermediate gear meshes with the rack structures on the two transmission racks.

3. The wind turbine blade operation and maintenance robot based on the intermittent vacuum adsorption device according to claim 1, characterized in that, The lifting platform further includes a platform bottom plate, linear slide rails, sliders and a connecting plate. The cylinder rod of the double-rod cylinder is fixedly installed on the frame, and the cylinder body is fixedly connected to the platform bottom plate. The platform bottom plate is vertically installed on the frame through the double-rod cylinder and is driven to lift through the cylinder rod of the double-rod cylinder. Two vertical linear slide rails are symmetrically installed on both sides of the front surface of the platform bottom plate. Two sliders are slidably installed on each linear slide rail, and a connecting plate is fixedly installed on the two sliders. The cleaning device and the grinding device are detachably installed on the connecting plate and can move up and down along the linear slide rail with the sliders.

4. The wind turbine blade operation and maintenance robot based on the intermittent vacuum adsorption device according to claim 1, wherein The cleaning device includes a drive motor, a belt drive set, a cleaning mounting plate, a water spray rack, water spray nozzles, and a disk brush; the cleaning mounting plate is used for detachably connecting to the lifting platform; the drive motor and the water spray rack are both fixedly installed on the cleaning mounting plate; the water spray nozzles are fixedly installed on the water spray rack and are used for spraying water during cleaning; the belt drive set includes a drive belt and a plurality of drive wheels, the belt is sleeved outside all the drive wheels, the drive wheels are rotatably installed on the cleaning mounting plate through a rotating shaft and a bearing, and the rotating shaft of one of the drive wheels is fixedly connected to the output shaft of the drive motor; a disk brush is installed at the bottom of the rotating shaft of each drive wheel.

5. The wind turbine blade operation and maintenance robot based on the intermittent vacuum adsorption device according to claim 1, characterized in that, The grinding device includes a linear slide, a rotary slide, and a grinding machine; the linear slide is used for detachably connecting to the lifting platform; the rotary slide is fixedly installed on the sliding part of the linear slide through a mounting plate, and the linear slide is used for driving the rotary slide to move horizontally through the sliding part; the grinding machine is fixedly installed on the rotating part of the rotary slide, and the rotary slide is used for adjusting the grinding angle of the grinding machine; The grinding machine is used for grinding the surface of the wind power blade.

6. The wind turbine blade operation and maintenance robot based on the intermittent vacuum adsorption device according to claim 1, characterized in that, It further includes an air compressor, a water pump, a vacuum generator, and a battery module; the air compressor, the water pump, the vacuum generator, and the battery module are all fixedly installed on the vehicle frame; the air compressor is used for providing working air pressure for the suction cup and the double-rod cylinder; the water pump is used for providing water for the cleaning device; the vacuum generator is used for converting atmospheric pressure into negative pressure to make the suction cup vacuumize; the battery module is installed on the moving chassis and is used for providing a power source for the operation and maintenance robot.

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