Wall-climbing cleaning and decontamination robot

Abstract

The invention provides a wall-climbing cleaning and decontamination robot. The wall-climbing cleaning and decontamination robot comprises a main body, a vacuum adsorption assembly and a cleaning assembly, the main body is connected with a driving part to drive the main body to move, the vacuum adsorption assembly is arranged at the bottom of the main body, the cleaning assembly comprises a shell connected with the main body through a fixed-distance lifting assembly, and a cleaning cavity with a downward opening is formed in the inner side of the shell; the shell is provided with a recycling opening used for being communicated with a recycling device, the recycling opening is communicated with the cleaning cavity, the cleaning assembly can move between the cleaning station and the moving station relative to the main body under driving of the fixed-distance lifting assembly, the shell covers the surface to be cleaned and decontaminated under the cleaning station, the cleaning cavity makes contact with the surface to be cleaned and decontaminated, and the cleaning cavity makes contact with the surface to be cleaned and decontaminated under the moving station. And under the moving station, the cleaning assembly is separated from the surface to be cleaned and decontaminated. Therefore, radioactive contamination diffusion is avoided, the generation amount of radioactive waste liquid and solid waste is reduced, and the operation safety, the environmental protection property and the cleaning efficiency are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a wall-climbing cleaning and decontamination robot. Background Art

[0002] In the field of industrial environmental decontamination technology, with the development of the nuclear industry and the increase in related radiation application scenarios, the cleaning and decontamination technology of α-contaminated radioactive surfaces (surfaces contaminated by radioactive nuclides, the contaminant rays are mainly α rays) has become a key research direction to ensure operational safety and environmental safety.

[0003] Currently, cleaning and decontamination of α-contaminated radioactive surfaces still relies on manual, open-type operations, primarily employing fluid cleaning methods such as high-pressure water washing, steam jets, and weak acid sprays. Due to these open-type cleaning and decontamination methods, fluid splashing is difficult to control, potentially spreading radioactive contamination. Additionally, some cleaning and decontamination operations utilize methods such as fluid spraying combined with wiping and adhesive stripping, or direct wiping. However, these processes are complex and generate significant amounts of radioactive liquid and solid waste. Summary of the Invention

[0004] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present invention, a wall-climbing cleaning and decontamination robot is provided. The wall-climbing cleaning and decontamination robot comprises: a main body, the main body being connected to a driving member for driving the main body to move; a vacuum adsorption assembly, the vacuum adsorption assembly being arranged at the bottom of the main body; and a cleaning assembly, the cleaning assembly comprising a shell connected to the main body via a fixed-distance lifting assembly, the inner side of the shell being formed with a cleaning chamber open to the bottom, the shell being provided with a recovery port for communicating with a recovery device, the recovery port being connected to the cleaning chamber; wherein, driven by the fixed-distance lifting assembly, the cleaning assembly is movable relative to the main body between a cleaning station and a moving station, wherein in the cleaning station, the shell covers the surface to be cleaned and decontaminated, and the cleaning chamber contacts the surface to be cleaned and decontaminated, and in the moving station, the cleaning assembly is spaced apart from the surface to be cleaned and decontaminated.

[0005] The wall-climbing cleaning and decontamination robot provided by the present application can stably operate on surfaces of different materials such as walls, pipes, inclined surfaces, and non-ferrous smooth surfaces through the arrangement of vacuum adsorption components and drive components. It has greater flexibility and can improve the adaptability of the wall-climbing cleaning and decontamination robot to various working environments. Compared with traditional open operations, the wall-climbing cleaning and decontamination robot provided by the present application, when at the cleaning station, the shell covers the surface to be cleaned and decontaminated. With the cooperation of the shell and the surface to be cleaned and decontaminated, the cleaning chamber can be relatively sealed, forming a closed cleaning and decontamination operation mode. When impact cleaning and decontamination are performed in the cleaning chamber, the spread of radioactive contamination is avoided. The radioactive waste liquid and radioactive solid waste after cleaning can enter the recovery device through the recovery port, greatly reducing the amount of radioactive waste liquid and solid waste generated, and significantly improving the safety, environmental protection and cleaning efficiency of the operation. In this way, the cleaning process is isolated from the external environment, avoiding the spread of radioactive contamination caused by fluid splashing, and the wastewater can be recovered simultaneously through the built-in recovery structure. The integration of cleaning and recycling functions creates a more compact structure and a higher degree of integration. This avoids the problems of equipment bloat and cumbersome operation caused by an additional external recycling system, easing deployment difficulties in confined spaces and expanding its applicability to a wider range of scenarios. Furthermore, the fixed-distance lifting assembly automatically switches the cleaning assembly between the cleaning and moving stations, completing the suction, cleaning, and moving cycle without manual intervention. This improves the automation and operational efficiency of the wall-climbing cleaning and decontamination robot, reduces manual intervention in high-radiation environments, and further enhances operational flexibility in complex scenarios.

[0006] Exemplarily, the cleaning component is located on one side of the main body, and the recovery port includes a first recovery port and a second recovery port opened at the top of the shell and spaced apart from each other. The first recovery port is closer to the main body than the second recovery port, and the first recovery port and the second recovery port are both connected to the cleaning chamber and the recovery device.

[0007] Exemplarily, a water retaining bar is provided at the bottom of the shell, which is connected end to end and surrounds the cleaning cavity in the circumferential direction of the cleaning cavity. At the cleaning station, the water retaining bar is in contact with the surface to be cleaned and decontaminated.

[0008] Exemplarily, the water retaining strip includes a first portion close to the main body and a second portion opposite to the first portion, a first wiping structure is provided on a side of the first portion facing the second portion, and a second wiping structure is provided on a side of the second portion facing the first portion.

[0009] Exemplarily, a brush assembly is provided on a side of the first wiping structure facing the second portion and a side of the second wiping structure facing the first portion.

[0010] Illustratively, the brush assembly, the water retaining strip, the first wiping structure and the second wiping structure are all made of flexible materials.

[0011] Exemplarily, the wall-climbing cleaning and decontamination robot also includes a spray assembly, which includes a spray part and a water connecting part. The water connecting part is arranged on the outside of the shell and is used to connect to a water pump. The spray part is connected to the water connecting part and extends into the cleaning chamber.

[0012] Exemplarily, a connecting valve is provided on the top of the main body, the connecting valve having a first inlet, a second inlet and an outlet connected to both the first inlet and the second inlet, the first recovery port is connected to the first inlet, the second recovery port is connected to the second inlet, and the outlet is connected to the recovery device.

[0013] Exemplarily, the vacuum adsorption assembly includes a vacuum generator and a vacuum suction cup. An air source diversion device is provided on the top of the main body, and the air source diversion device is connected to an external compressor and a vacuum generator. The vacuum generator is provided at the bottom of the main body and is connected to the vacuum suction cup provided at the bottom of the main body.

[0014] Exemplarily, the wall-climbing cleaning and decontamination robot further includes a camera assembly and a signal receiving and transmitting assembly. Both the signal receiving and transmitting assembly and the camera assembly are arranged on the top of the main body, and the signal receiving and transmitting assembly is electrically connected to the main body.

[0015] The Summary of the Invention introduces a series of simplified concepts that will be further described in detail in the Detailed Description of the Invention. This Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0016] The advantages and features of the present invention are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following drawings of the present invention are hereby incorporated into the present invention for understanding the present invention. The drawings show embodiments of the present invention and their descriptions, and are used to explain the principles of the present invention. In the drawings,

[0018] Figure 1-2 A perspective view of a wall-climbing cleaning and decontamination robot according to an exemplary embodiment of the present invention;

[0019] Figure 3 A side view of a wall-climbing cleaning and decontamination robot according to an exemplary embodiment of the present invention;

[0020] Figure 4 A front view of a wall-climbing cleaning and decontamination robot according to an exemplary embodiment of the present invention;

[0021] Figure 5 A top view of a wall-climbing cleaning and decontamination robot according to an exemplary embodiment of the present invention;

[0022] Figure 6It is a bottom view of a wall-climbing cleaning and decontamination robot according to an exemplary embodiment of the present invention.

[0023] The above drawings include the following reference numerals:

[0024] 10. Wall-climbing cleaning and decontamination robot; 110. Main body; 120. Vacuum adsorption assembly; 1210. Vacuum generator; 1220. Vacuum suction cup; 130. Cleaning assembly; 1310. Shell; 1320. Water retaining bar; 1321. First part; 1322. Second part; 1330. Cleaning chamber; 1341. First recovery port; 1342. Second recovery port; 1351. First wiping structure; 1352. Second Wiping structure; 1360, brush assembly; 1371, first baffle; 1380, spray assembly; 1381, spray part; 1382, water connecting part; 1390, universal wheel; 140, driving part; 150, fixed-distance lifting assembly; 160, connecting valve; 1610, first inlet; 1620, second inlet; 1630, outlet; 170, air source diversion device; 180, camera assembly; 190, signal receiving and sending assembly. DETAILED DESCRIPTION

[0025] In the following description, a large amount of detail is provided to facilitate a thorough understanding of the present invention. However, it will be appreciated by those skilled in the art that the following description merely illustrates preferred embodiments of the present invention, and that the present invention may be practiced without one or more of these details. Furthermore, to avoid confusion with the present invention, some technical features well known in the art have not been described in detail.

[0026] In an embodiment of the present invention, a wall-climbing cleaning and decontamination robot is provided. The wall-climbing cleaning and decontamination robot can be used for cleaning and decontamination of any type of contaminated surface, for example, it can be used for cleaning and decontamination of α-contaminated radioactive surfaces. Figure 1 and Figure 2The wall-climbing cleaning and decontamination robot 10 includes a main body 110, a vacuum adsorption assembly 120, and a cleaning assembly 130. The main body 110 is connected to a driving member 140 to drive the main body 110 to move. The driving member 140 can drive the main body 110, the vacuum adsorption assembly 120, and the cleaning assembly 130 to move together on the surface. The vacuum adsorption assembly 120 is arranged at the bottom of the main body 110. The vacuum adsorption assembly 120 can contact the surface and adhere to the surface to a certain extent. The cleaning assembly 130 includes a housing 1310 connected to the main body 110 via a fixed-distance lifting assembly 150. The fixed-distance lifting assembly 150 can drive the housing 1310 to move relative to the main body 110. Specifically, the fixed-distance lifting assembly 150 can be an electric push rod. A cleaning chamber 1330 with a downward opening is formed in the housing 1310. The housing 1310 is provided with a recovery port for communicating with a recovery device, and the recovery port is connected to the cleaning chamber 1330. That is to say, the waste liquid in the cleaning chamber 1330 can flow into the recovery device through the recovery port, and the recovery port and the recovery device can be connected through a flexible pipe. Among them, the cleaning component 130 is movable between the cleaning station and the moving station relative to the main body 110 under the drive of the fixed-distance lifting component 150. At the cleaning station, the shell 1310 covers the surface to be cleaned and decontaminated, and the cleaning chamber 1330 is in contact with the surface to be cleaned and decontaminated. At the moving station, the cleaning component 130 is separated from the surface to be cleaned and decontaminated. It should be noted that the surface to be cleaned and decontaminated can be understood as a partial area of ​​the surface, that is, the part of the surface that needs to be cleaned. The cleaning station and the moving station can be achieved by lifting or lowering the cleaning component 130 relative to the surface to be cleaned and decontaminated. Figure 3 From a medium perspective, the surface to be cleaned and decontaminated is a horizontal surface, which is switched by the vertical movement of the cleaning assembly 130. The process of moving from the cleaning station to the mobile station is the process of raising the cleaning assembly 130, and the process of moving from the mobile station to the cleaning station is the process of lowering the cleaning assembly 130. Under the cleaning station, the wall-climbing cleaning and decontamination robot 10 cleans the surface to be cleaned and decontaminated and moves. After cleaning, the housing 1310 moves to the mobile station, isolating the housing 1310 from the surface to be cleaned and decontaminated to prevent residual liquid from contaminating other areas.

[0027] The wall-climbing cleaning and decontamination robot 10 provided in this application, through the arrangement of the vacuum adsorption component 120 and the driving member 140, can stably operate on different material surfaces such as walls, pipes, inclined surfaces, and non-ferrous smooth surfaces. It has greater flexibility and can improve the adaptability of the wall-climbing cleaning and decontamination robot 10 to various working environments. Compared with traditional open operation, the wall-climbing cleaning and decontamination robot 10 provided in this application, when in the cleaning station, the shell 1310 covers the surface to be cleaned and decontaminated. With the cooperation of the shell 1310 and the surface to be cleaned and decontaminated, the cleaning chamber 1330 can be relatively sealed, forming a closed cleaning and decontamination operation mode. When the impact cleaning and decontamination are performed in the cleaning chamber 1330, the spread of radioactive contamination is avoided. The radioactive waste liquid and radioactive solid waste after cleaning can enter the recovery device through the recovery port, greatly reducing the amount of radioactive waste liquid and solid waste generated, and significantly improving the safety, environmental protection and cleaning efficiency of the operation. This not only achieves the isolation of the cleaning process from the external environment, avoiding the spread of radioactive contamination caused by fluid splashing, but also can simultaneously recover the wastewater through the built-in recovery structure. The integration of cleaning and recycling functions creates a more compact structure and a higher degree of integration. This avoids the problems of equipment bloat and cumbersome operation caused by an additional external recycling system, reduces the difficulty of deployment in confined spaces, and expands its applicability to a wider range of scenarios. Furthermore, the fixed-distance lifting assembly 150 can automatically switch the cleaning assembly 130 between the cleaning station and the mobile station, completing the suction, cleaning, and movement cycle without manual intervention. This improves the automation and operational efficiency of the wall-climbing cleaning and decontamination robot 10, reduces manual intervention in high-radiation environments, and further enhances operational flexibility in complex scenarios.

[0028] For example, with reference to Figure 1 、 Figure 2 and Figure 5 The cleaning component 130 is located on one side of the main body 110, and the recovery port includes a first recovery port 1341 and a second recovery port 1342 that are opened at the top of the shell 1310 and spaced apart from each other. The first recovery port 1341 is closer to the main body 110 than the second recovery port 1342. The first recovery port 1341 and the second recovery port 1342 both connect the cleaning chamber 1330 and the recovery device. The wall-climbing cleaning and decontamination robot 10 can move forward (from the main body 110 to the cleaning component 130) or backward (from the cleaning component 130 to the main body 110). When the wall-climbing cleaning and decontamination robot 10 moves forward, the waste liquid can flow from the first recovery port 1341 to the recovery device. When the wall-climbing cleaning and decontamination robot 10 moves forward, the waste liquid can flow from the second recovery port 1342 to the recovery device. In this way, the waste liquid is recovered at different locations in the cleaning chamber 1330 to ensure the waste liquid recovery effect. Moreover, it can cooperate with the different moving directions of the wall-climbing cleaning and decontamination robot 10 to ensure that the waste liquid in the cleaning chamber 1330 can be extracted in different moving directions, and the waste liquid recovery effect is better.

[0029] For example, with reference to Figure 1 、 Figure 2 and Figure 6 The bottom of the shell 1310 may be provided with a water retaining bar 1320, which is connected end to end and surrounds the cleaning chamber 1330 in the circumferential direction. At the cleaning station, the water retaining bar 1320 abuts against the surface to be cleaned and decontaminated. The water retaining bar 1320 abuts against the surface to be cleaned and decontaminated at the cleaning station, and can form a sealed enclosure around the cleaning chamber 1330. In this way, it can prevent the waste liquid in the cleaning chamber 1330 from splashing or leaking around, avoiding radioactive waste liquid from contaminating non-operating areas, and can also improve the negative pressure recovery efficiency in the cleaning chamber 1330 through the enclosure, ensuring that the waste liquid is recovered in a centralized manner without residue.

[0030] For example, with reference to Figure 1 、 Figure 2 、 Figure 5 and Figure 6 The water retaining strip 1320 includes a first portion 1321 close to the main body 110 and a second portion 1322 opposite to the first portion 1321. A first wiping structure 1351 is provided on the side of the first portion 1321 facing the second portion 1322, and a second wiping structure 1352 is provided on the side of the second portion 1322 facing the first portion 1321. The first wiping structure 1351 and the second wiping structure 1352 can wipe the surface to be cleaned and decontaminated.

[0031] For example, with reference to Figure 1 、 Figure 2 、 Figure 5 and Figure 6A brush assembly 1360 is provided on both the side of the first wiping structure 1351 facing the second portion 1322 and the side of the second wiping structure 1352 facing the first portion 1321. The brush assembly 1360 is provided on the side of the water retaining bar 1320 facing the cleaning chamber 1330. The brush assembly 1360 includes a first brush layer and a second brush layer, with the first brush layer being closer to the cleaning chamber 1330 than the second brush layer. The first brush layer and the second brush layer have different densities, and the density of the first brush layer can be greater than that of the second brush layer. For example, the brush assembly 1360 can be made of a flexible material. The brush assembly 1360 absorbs waste liquid and various solid particles splashed during high-pressure water impact cleaning. Under the negative pressure provided by the first and second recovery ports 1341 and 1342, the waste liquid is recycled along the panel at the base of the brush and the connection between the brushes into the first and second recovery ports 1341 and 1342. The brush assembly 1360 is in uniform contact with the surface to be cleaned and decontaminated, so that the waste liquid and various solid particles splashed up during the cleaning process are first blocked and isolated by the surrounding brush assemblies 1360. The small amount that penetrates the brush assembly 1360 is then isolated again by the water retaining bar 1320. During the cleaning process, waste liquid and various loose solid particles will inevitably remain. This part of the residue, through contact with the brush assembly 1360 during the movement of the cleaning assembly 130, is re-adsorbed along the vertical direction of the brush under the action of negative pressure and enters the first recovery port 1341 and the second recovery port 1342 for recovery. Throughout the entire cleaning operation, the water retaining bar 1320 has sufficient structural strength and maintains a reasonable pressure with the surface to be cleaned and decontaminated, as determined through experiments. This allows the vacuum pump of the recovery device to quickly generate a sufficient negative pressure value after startup, and can always maintain a reasonable pressure with the surface to be cleaned and decontaminated during movement, thereby ensuring the stability of the negative pressure. For example, the water retaining bar 1360 may be a quick disassembly and assembly structure. After cleaning and decontamination, if radiation detection finds that the water retaining bar 1360 is contaminated, the water retaining bar 1360 may be quickly removed for cleaning or directly discarded as solid waste.

[0032] Exemplarily, the brush assembly 1360, the water retaining bar 1320, the first wiping structure 1351 and the second wiping structure 1352 can all be made of flexible materials. It is understandable that although the brush assembly 1360, the water retaining bar 1320 and the first wiping structure 1351 and the second wiping structure 1352 can all be made of flexible materials, different materials can be used respectively. For example, the water retaining bar 1320 can be made of rubber, and the first wiping structure 1351 and the second wiping structure 1352 can be made of materials such as synthetic fibers. In this way, the cleaning assembly 130 can fit tightly to the uneven surface to be cleaned and decontaminated, ensure the sealing effect of the cleaning chamber 1330, and effectively prevent leakage of waste liquid. During the wiping and scrubbing process, the flexible structure can adaptively fit the complex surface contour, avoid cleaning dead corners, and ensure that pollutants of different degrees can be effectively removed. The structural strength of the water retaining bar 1320 is higher than that of the brush assembly 1360 because the water retaining bar 1320 has sufficient thickness, and after being pressed down in contact with the surface to be cleaned and decontaminated, a curved surface is naturally formed at the bottom, which acts as a "rib", further strengthening the structural strength of the water retaining bar 1320, thereby preventing the water retaining bar 1320 from being abnormally deformed due to the friction with the surface to be cleaned and decontaminated during the movement of the wall-climbing cleaning and decontamination machine 10. In addition, the water retaining bar 1320 will naturally produce a certain area of ​​curved contact in the process of contact with the surface to be cleaned and decontaminated, which has an effect similar to a sealing surface of a certain width. The combination of the two functions prevents the seal of the water retaining bar 1320 from being destroyed, thereby preventing the waste liquid from leaking.

[0033] For example, with reference to Figure 1 、 Figure 2 、 Figure 5 and Figure 6The first wiping structure 1351 may also be connected to a first baffle 1371. The first baffle 1371 extends along the first wiping structure 1351 toward the bottom of the cleaning chamber 1330, with a first gap between the first baffle 1371 and the first portion 1321. The first gap connects the cleaning chamber 1330 and the first recovery port 1341. The second wiping structure 1352 is also connected to a second baffle. The second baffle extends along the second wiping structure 1352 toward the bottom of the cleaning chamber 1330, with a second gap between the first baffle and the second portion 1322. The second gap connects the cleaning chamber 1330 and the second recovery port 1342. Regarding waste liquid recovery path 1, wastewater in the cleaning chamber 1330 passes through the first gap, the first recovery port 1341, and the first inlet 1610 in sequence, and enters the recovery device. Waste liquid recovery path 2: The wastewater in the cleaning chamber 1330 passes through the second partition, the second recovery port 1342, and the second inlet 1620 in sequence and enters the recovery device. The first baffle 1371 and the second baffle extend to the bottom of the cleaning chamber 1330 and reserve a gap, forming a barrier with a blocking function, so that the cleaning liquid can stay in the cleaning chamber 1330 longer, and the cleaning process in the cleaning chamber 1330 is more complete. Specifically, in an embodiment in which a spray assembly 1380 is provided, after the cleaning liquid sprayed by the spray assembly 1380 completes the dissolution, scrubbing and adsorption of the pollutants, the waste liquid flows into the corresponding recovery port through the first partition and / or the second partition, thereby improving cleaning efficiency and avoiding waste of resources.

[0034] For example, with reference to Figure 1 、 Figure 2 and Figure 6 The wall-climbing cleaning and decontamination robot 10 also includes a spray assembly 1380, which includes a spray part 1381 and a water connector 1382. The water connector 1382 is arranged on the outside of the housing 1310 and is used to connect to a water pump. The spray part 1381 is connected to the water connector 1382 and extends into the cleaning chamber 1330. The spray port of the spray part 1381 is located between the first baffle 1371 and the second baffle. The water connector 1382 is connected to an external water pump to supply water. The spray part 1381 directly injects the cleaning liquid into the cleaning chamber 1330. Under the obstruction of the first baffle 1371 and the second baffle, the cleaning liquid fully flows through the brush assembly 1360, the first wiping structure 1351 and the second wiping structure 1352, and fully contacts the pollutants to ensure a cleaning effect. Exemplarily, universal wheels 1390 may also be provided on the outside of the shell 1310 to make the movement of the wall-climbing cleaning and decontamination robot 10 smoother and more stable.

[0035] For example, with reference to Figure 1 、 Figure 2 、 Figure 3 and Figure 5, a connecting valve 160 is provided on the top of the main body 110, and the connecting valve 160 has a first inlet 1610, a second inlet 1620 and an outlet 1630 connected to both the first inlet 1610 and the second inlet 1620. The connecting valve 160 can be a three-way valve. The first recovery port 1341 is connected to the first inlet 1610, the second recovery port 1342 is connected to the second inlet 1620, and the outlet 1630 is connected to the recovery device. In this way, by controlling the connection between the outlet 1630 and the first inlet 1610 or the second inlet 1620, the control of the first recovery port 1341 and the second recovery port 1342 can be achieved in a more targeted manner. During the cleaning operation, the corresponding recovery port can be controlled to open according to the cleaning path to ensure the waste liquid recovery efficiency and cleaning effect. For example, Figure 3 Taking the middle perspective as an example, when the wall-climbing cleaning and decontamination robot 10 moves to the right (i.e., forward), the control outlet 1630 is connected to the first inlet 1610, i.e., the aforementioned path 1. When the wall-climbing cleaning and decontamination robot 10 moves to the left (i.e., backward), the control outlet 1630 is connected to the second inlet 1620, i.e., the aforementioned path 2. Furthermore, in some cases, such as when one of the recovery ports becomes clogged or encounters an abnormality, the other recovery port can be quickly switched to ensure smooth waste liquid recovery, effectively improving the fault tolerance and operational reliability of the wall-climbing cleaning and decontamination robot 10. This also simplifies the piping layout and reduces production and maintenance costs.

[0036] For example, with reference to Figure 2 、 Figure 4 and Figure 5 The vacuum adsorption assembly 120 includes a vacuum generator 1210 and a vacuum suction cup 1220. An air source diverter 170 is provided at the top of the main body 110. The air source diverter 170 is connected to an external compressor and the vacuum generator 1210. The vacuum generator 1210 is provided at the bottom of the main body 110 and is connected to the vacuum suction cup 1220 provided at the bottom of the main body 110. The vacuum adsorption assembly 120 of the wall-climbing cleaning and decontamination robot 10 is connected to the external compressor and the vacuum generator 1210 through the air source diverter 170, which can efficiently distribute the airflow and ensure that the vacuum suction cup 1220 obtains a continuous and stable negative pressure adsorption force. The vacuum generator 1210 and the vacuum suction cup 1220 are both provided at the bottom of the main body 110, which is closer to each other, which can reduce the airflow transmission loss, enhance the adsorption reliability, and make the wall-climbing cleaning and decontamination robot 10 more stable in climbing walls.

[0037] For example, with reference to Figure 2 、 Figure 3 and Figure 4The bottom end of the vacuum suction cup 1220 protrudes from the lowest end of the driving member 140, the main body 110 and other components of the wall-climbing cleaning and decontamination robot 10. When the driving member 140 has not compacted the surface, the vacuum suction cup 1220 can still be in continuous contact with the surface first, providing a stable physical boundary for the establishment of the internal negative pressure cavity. The bottom of the vacuum suction cup 1220 preferentially contacts the surface to form an initial interface. In the initial stage of posture adjustment of the wall-climbing cleaning and decontamination robot 10, precise fitting with the surface is achieved with the help of structural guidance. The vacuum suction cup 1220 can be made of a material with moderate hardness and a high friction coefficient (for example, Shore hardness: 50~70A, friction coefficient: dry state ≥0.7, humid / chemical medium environment ≥0.8), which can be adapted to a variety of wall materials and different inclination conditions to ensure contact stability. The bottom of the vacuum cup 1220 utilizes a ring-shaped design at the point of contact with the surface, balancing sealing and frictional stability. By strictly limiting the ring's dimensions, frictional resistance against the ground is controlled, preventing edge curling and negative pressure seal damage caused by excessive contact area, while also avoiding uneven adhesion and reduced sealing performance caused by insufficient contact area. Furthermore, the vacuum cup 1220 utilizes a bellows-like structure, providing excellent axial compliance and boundary sealing capabilities, enabling the wall-climbing cleaning and decontamination robot 10 to adapt to varying slopes and locally uneven surfaces within a certain range.

[0038] For example, with reference to Figure 1 、 Figure 3 and Figure 6 The wall-climbing cleaning and decontamination robot 10 may further include a camera assembly 180 and a signal receiving and sending assembly 190. The signal receiving and sending assembly 190 and the camera assembly 180 may both be arranged on the top of the main body 110, and the signal receiving and sending assembly 190 is electrically connected to the main body 110. In this way, the operation screen can be collected in real time and the data can be transmitted remotely. The camera assembly 180 can provide a clear on-site field of view to help operators understand the distribution of pollution and the progress of cleaning. The signal receiving and sending assembly 190 can realize two-way transmission of control instructions and image information, and support remote precision control. The cooperation of the two enables the wall-climbing cleaning and decontamination robot 10 to complete cleaning tasks in dangerous environments such as radioactivity without the need for close-range operation by personnel, which not only improves the safety of the operation, but also enhances the flexibility of control in complex environments, ensuring that the cleaning operation is carried out efficiently and orderly. For example, the signal receiving and sending assembly 190 can also be electrically connected to the spray assembly 1380. For example, the signal transceiver component 190 can be electrically connected to an external control component (such as a remote controller), and the control component transmits instructions to the signal transceiver component 190 , and the signal transceiver component 190 controls the operation of the spray component 1380 .

[0039] In one embodiment, in conjunction with reference Figure 1 、 Figure 2 and Figure 3, the wall-climbing cleaning and decontamination robot 10 receives the control signal of the control component through the signal receiving and sending component 190 and sends the status information of the wall-climbing cleaning and decontamination robot 10 and the image information of the camera component 180 to the control component to ensure that it reaches the location of the pollutants accurately. When the wall-climbing cleaning and decontamination robot 10 arrives at the contaminated area, the fixed-distance lifting component 150 controls the cleaning component 130 to descend, and the lower surface of the cleaning component 130 forms a close contact with the surface to be cleaned and decontaminated, covering the entire pollutant area. The flexible material setting of the water retaining bar 1320, the brush component 1360, the first wiping structure 1351 and the second wiping structure 1352 at the bottom of the cleaning component 130 can adapt to the different shapes of the surfaces to be cleaned and decontaminated, and avoid missing pollutants. Subsequently, after the signal receiving and sending component 190 of the wall-climbing cleaning and decontamination robot 10 receives the high-pressure water spraying command of the control component, the spray component 1380 starts spraying, evenly spraying the cleaning liquid onto the surface to be cleaned and decontaminated, dissolving or diluting the pollutants, and facilitating subsequent recovery. After the cleaning liquid is sprayed, the recovery device is started, and the driving member 140 drives the wall-climbing cleaning and decontamination robot 10 forward ( Figure 3 The connecting valve 160 connects the outlet 1630 with the first inlet 1610, and the waste liquid in the cleaning chamber 1330 is recovered by the brush assembly 1360 and enters the waste liquid tank in the recovery device. Figure 3 The connecting valve 160 connects the outlet 1630 and the second inlet 1620, and the waste liquid is recovered by the brush assembly 1360 and enters the waste liquid tank in the recovery device. After that, the driving member 140 drives the wall-climbing cleaning and decontamination robot 10 to move forward again, and the steps are repeated twice to effectively clean the contaminated area. After the cleaning is completed, the fixed-distance lifting assembly 150 lifts the cleaning assembly 130 to the mobile station to ensure that the cleaning assembly 130 is separated from the surface to prevent residual liquid from contaminating other areas. The wall-climbing cleaning and decontamination robot 10 then drives away from the contaminated area. Since the pollutants are completely recovered during the cleaning process, the wall-climbing cleaning and decontamination robot 10 effectively avoids secondary pollution in the contaminated area, ensuring the safety of the cleaning environment and the environmental friendliness of the operation.

[0040] When the wall-climbing cleaning and decontamination robot 10 is placed on an inclined or vertical surface, the signal receiving and sending component 190 of the wall-climbing cleaning and decontamination robot 10 receives a signal, the air compressor starts working, and the high-speed compressed air flows through the air source diversion device 170 into the vacuum generator 1210, causing a negative pressure to be formed inside the vacuum suction cup 1220. The negative pressure adsorption of the vacuum suction cup 1220 firmly attaches the wall-climbing cleaning and decontamination robot 10 to the inclined or vertical surface, thereby enabling cleaning operations. The wall-climbing cleaning and decontamination robot 10 can avoid falling due to the adhesion provided by the vacuum suction cup 1220, in conjunction with the driving force provided by the drive motor and the drive member 140, and can also move freely to different areas of the surface for cleaning. The cleaning component 130 on the wall-climbing cleaning and decontamination robot 10 is also adapted to this special working environment. During the crawling process of the wall-climbing cleaning and decontamination robot 10, the fixed-distance lifting component 150 lowers the cleaning component 130 to the cleaning station, and the shell 1310 covers the surface to be cleaned and decontaminated in the contaminated area. After the cleaning liquid is sprayed onto the surface to be cleaned and decontaminated, the recovery device completely covers the contaminated area and inhales the wastewater by moving the wall-climbing cleaning and decontamination robot 10 back and forth. Through the setting of the vacuum adsorption component 120, the wall-climbing cleaning and decontamination robot 10 can smoothly complete the functions of cleaning, spraying, and recycling when climbing the wall, and is not easily disturbed by the outside world. After the decontamination is completed, the fixed-distance lifting component 150 lifts the cleaning component 130 to the mobile station, and the wall-climbing cleaning and decontamination robot 10 leaves the contaminated area, and the vacuum suction cup 1220 is released to avoid the occurrence of secondary pollution. In this way, the wall-climbing cleaning and decontamination robot 10 can realize the wall-climbing function, is suitable for cleaning vertical or inclined surfaces such as walls and pipes, and can perform cleaning tasks in complex working environments (such as walls, pipes, etc.), thereby improving the adaptability and application range of the wall-climbing cleaning and decontamination robot 10.

[0041] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front", "back", "up", "down", "left", "right", "horizontal", "vertical", "vertical", "horizontal", "top", "bottom", etc. are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0042] For ease of description, area-relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the regional positional relationship between one or more components or features shown in the figures and other components or features. It should be understood that area-relative terms include not only the orientation of the components as described in the figures, but also different orientations in use or operation. For example, if the components in the drawings are inverted as a whole, the situation where the components are "above other components or features" or "above other components or features" will include the situation where the components are "below other components or structures" or "below other components or structures". Thus, the exemplary term "above" may include both the orientations "above" and "below". In addition, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document is intended to include all of these situations.

[0043] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, 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, parts, components and / or combinations thereof.

[0044] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0045] The present invention has been described through the above-described embodiments. However, it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments and that various variations and modifications may be made based on the teachings of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wall-climbing cleaning and decontamination robot, characterized in that: include: a main body, wherein the main body is connected to a driving member to drive the main body to move; A vacuum adsorption component, wherein the vacuum adsorption component is arranged at the bottom of the main body; A cleaning assembly, the cleaning assembly comprising a shell connected to the main body via a fixed-distance lifting assembly, a downwardly open cleaning chamber formed on the inner side of the shell, and a recovery port for communicating with a recovery device provided on the shell, the recovery port being in communication with the cleaning chamber; Wherein, driven by the fixed-distance lifting component, the cleaning component is movable relative to the main body between a cleaning station and a moving station. At the cleaning station, the shell cover is closed on the surface to be cleaned and decontaminated, and the cleaning chamber is in contact with the surface to be cleaned and decontaminated. At the moving station, the cleaning component is spaced apart from the surface to be cleaned and decontaminated.

2. The wall-climbing cleaning and decontamination robot according to claim 1, characterized in that: The cleaning component is located on one side of the main body, and the recovery port includes a first recovery port and a second recovery port opened on the top of the shell and spaced apart from each other. The first recovery port is closer to the main body than the second recovery port. The first recovery port and the second recovery port are both connected to the cleaning chamber and the recovery device.

3. The wall-climbing cleaning and decontamination robot according to claim 2, characterized in that: A water retaining bar is provided at the bottom of the shell. The water retaining bar is connected end to end and surrounds the cleaning cavity in the circumferential direction of the cleaning cavity. At the cleaning station, the water retaining bar is in contact with the surface to be cleaned and decontaminated.

4. The wall-climbing cleaning and decontamination robot according to claim 3, characterized in that: The water retaining strip includes a first portion close to the main body and a second portion opposite to the first portion. A first wiping structure is provided on a side of the first portion facing the second portion, and a second wiping structure is provided on a side of the second portion facing the first portion.

5. The wall-climbing cleaning and decontamination robot according to claim 4, characterized in that: A side of the first wiping structure facing the second part and a side of the second wiping structure facing the first part are both provided with brush assemblies.

6. The wall-climbing cleaning and decontamination robot according to claim 5, characterized in that: The brush assembly, the water retaining strip, the first wiping structure and the second wiping structure are all made of flexible materials.

7. The wall-climbing cleaning and decontamination robot according to claim 6, characterized in that: The wall-climbing cleaning and decontamination robot also includes a spray assembly, which includes a spray part and a water connecting part. The water connecting part is arranged on the outside of the shell and is used to be connected to a water pump. The spray part is connected to the water connecting part and extends into the cleaning chamber.

8. The wall-climbing cleaning and decontamination robot according to claim 2, characterized in that: A connecting valve is provided on the top of the main body, and the connecting valve has a first inlet, a second inlet and an outlet connected to both the first inlet and the second inlet. The first recovery port is connected to the first inlet, the second recovery port is connected to the second inlet, and the outlet is connected to the recovery device.

9. The wall-climbing cleaning and decontamination robot according to any one of claims 1 to 8, characterized in that: The vacuum adsorption assembly includes a vacuum generator and a vacuum suction cup. An air source diversion device is provided on the top of the main body. The air source diversion device is connected to an external compressor and the vacuum generator. The vacuum generator is provided at the bottom of the main body and is connected to the vacuum suction cup provided at the bottom of the main body.

10. The wall-climbing cleaning and decontamination robot according to claim 1, characterized in that: The wall-climbing cleaning and decontamination robot further includes a camera assembly and a signal receiving and transmitting assembly. The signal receiving and transmitting assembly and the camera assembly are both arranged on the top of the main body, and the signal receiving and transmitting assembly is electrically connected to the main body.

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