Wall-climbing robot cleaning and recycling device

Abstract

The utility model relates to the technical field of robots, in particular to a cleaning and recycling device for a wall-climbing robot, which comprises a robot body provided with a traveling mechanism and a rear steering wheel. The flexible recycling mechanism is arranged on the robot body, and the opening direction of the flexible recycling mechanism is consistent with the water flow direction; the number of the self-adaptive adjusting mechanisms is at least one, and the self-adaptive adjusting mechanisms are connected with the flexible recycling mechanism; and the cleaning mechanism is connected with the self-adaptive adjusting mechanism, the self-adaptive adjusting mechanism drives the cleaning mechanism to move, and the cleaning mechanism comprises at least one main cleaning assembly, a plurality of branch cleaning assemblies, a high-pressure water pipe and a cleaning liquid pipe. Due to the fact that the cleaning assembly comprises the main cleaning assembly and the multiple branch cleaning assemblies, and the multiple branch cleaning assemblies are movably connected with the main cleaning assembly, the wall-climbing robot cleaning and recycling device can adapt to a variable-curvature operation surface, the cleaning area is increased, meanwhile, the total number of the assemblies is reduced, and therefore the cleaning efficiency of the wall-climbing robot cleaning and recycling device is improved; and the cost of the cleaning device is also reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a cleaning and recycling device for a wall-climbing robot. Background Art

[0002] A wall-climbing robot is an automated mechanical device used to perform specific operations on magnetic walls under harsh, dangerous, and extreme conditions, such as inspection, monitoring, welding, grinding, cleaning, etc. At present, wall-climbing robots have been widely used in the production, construction, and operation and maintenance of magnetic material structures in the nuclear industry, petrochemical industry, construction industry, fire departments, shipbuilding industry, wind power generation industry, etc.

[0003] In some special application scenarios, the robot's working wall is a magnetic cylindrical surface, and its surface arc radius changes continuously within a wide range. Therefore, the wall-climbing robot needs to have the ability to move forward, backward, and rotate in a curved environment. During the movement of the robot, the wheels need to always maintain effective contact with the wall to provide the robot with a larger magnetic adsorption force.

[0004] In addition, during the actual application of the wall-climbing robot cleaning and recovery device, the curvature of the operating surface will change. For example, the radius of the wind turbine tower will become smaller and smaller from bottom to top, and the curvature will become larger and larger. If the cleaning and recovery device cannot adapt to the curvature that changes at any time, it will cause the cleaning to be unclean, the sewage cannot be recovered, and then the robot will slip, affecting the cleaning quality and posing a safety risk. At the same time, the existing cleaning module has problems such as complex operation methods, narrow operating range, large size and weight, low efficiency, and high cost, which has caused great difficulties for robot automated cleaning. Utility Model Content

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the problems of high cleaning cost, excessive weight, low cleaning efficiency and safety risks of the wall-climbing robot cleaning and recovery device in the prior art, thereby providing a low-cost, lightweight, efficient, safe and reliable wall-climbing robot cleaning and recovery device.

[0006] In order to solve the above technical problems, the utility model provides a wall-climbing robot cleaning and recovery device, comprising: a robot body, the robot body is provided with a walking mechanism and a rear steering wheel; a flexible recovery mechanism, arranged on the robot body, the opening direction of the flexible recovery mechanism is consistent with the water flow direction; an adaptive adjustment mechanism, having at least one, the adaptive adjustment mechanism is connected to the flexible recovery mechanism; a cleaning mechanism, connected to the adaptive adjustment mechanism, the adaptive adjustment mechanism drives the cleaning mechanism to move, the cleaning mechanism comprises at least one main cleaning component and multiple sub-cleaning components, a high-pressure water pipe, and a cleaning liquid pipe, multiple sub-cleaning components are movably connected to the main cleaning component, the high-pressure water pipe and the cleaning liquid pipe are arranged on the cleaning mechanism; a magnetic universal wheel, arranged on the main cleaning component and the sub-cleaning component, the magnetic universal wheel drives the main cleaning component and the sub-cleaning component to be adsorbed and adhered to the metal wall surface; a flow regulating device, arranged on the robot body, and the flow regulating device is connected to the cleaning liquid pipe.

[0007] Furthermore, the main cleaning component includes: a main connecting plate, which is connected to the adaptive adjustment mechanism and to the cleaning liquid pipe; a main driving mechanism, which is arranged on the supporting bracket of the main connecting plate; and a main cleaning brush plate, which is arranged at the bottom of the main connecting plate and connected to the main driving mechanism.

[0008] Furthermore, the sub-cleaning assembly includes: a sub-connecting plate, which is connected to the main connecting plate via a movable connecting piece, and the magnetic universal wheel is arranged on the sub-connecting plate; a sub-driving mechanism, which is arranged on the supporting bracket of the sub-connecting plate; and a sub-cleaning brush plate, which is arranged at the bottom of the sub-connecting plate and connected to the sub-driving mechanism.

[0009] Furthermore, the sub-cleaning assembly includes: a sub-connecting plate, which is connected to the main connecting plate via a movable connecting piece, and the cleaning liquid nozzle and the rear steering wheel are arranged on the sub-connecting plate and connected to the cleaning liquid pipe; a sub-driving mechanism, which is arranged on the supporting bracket of the sub-connecting plate; and a sub-cleaning brush plate, which is arranged at the bottom of the sub-connecting plate and connected to the sub-driving mechanism.

[0010] Furthermore, the main drive mechanism and the sub-drive mechanism both include: a power motor and a reducer, the power motor is connected to the reducer, and the reducer is arranged on the support bracket; a coupling, which is arranged in the support bracket, one end of the coupling is connected to the reducer, and the other end is connected to the main cleaning brush disc or the sub-cleaning brush disc.

[0011] Furthermore, the movable connecting member is a hinge.

[0012] Furthermore, the flow regulating device includes: an electromagnetic valve fixing base plate, the electromagnetic valve fixing base plate is arranged on the robot body, an upper cover plate is provided on the electromagnetic valve fixing base plate, a electromagnetic valve is provided on the electromagnetic valve fixing base plate, and the electromagnetic valve is arranged on the high-pressure water pipe; an electric driving component, which is arranged on the electromagnetic valve fixing base plate, and the cleaning liquid pipe runs through the electric driving component.

[0013] Furthermore, the electric push assembly includes: an electric push rod fixed base plate, which is arranged on the solenoid valve fixed base plate, and an adjustment seat is provided on the electric push rod fixed base plate, and the cleaning liquid pipe passes through the adjustment seat; an electric push rod, which is arranged on the electric push rod fixed base plate, and the electric push rod abuts against the cleaning liquid pipe.

[0014] Furthermore, the rear steering wheel and the magnetic universal wheel both include: a support handle, which is connected to the robot body or the sub-connecting plate, and a vertical axis is provided in the support handle; a rotating plate, which is arranged below the support handle, and the vertical axis passes through the rotating plate, and a lower support plate is provided at the bottom of the rotating plate; a magnet, a ring frame is sleeved on the magnet, and a short shaft passes through the lower support plate and the ring frame; rollers are arranged on both sides of the magnet, and the wheel axle passes through the magnet and the rollers.

[0015] Furthermore, the flexible recovery mechanism includes: a recovery trough, connected to the robot body, and a mounting plate is arranged in the recovery trough, and a recovery bar fixing bracket is provided on the mounting plate; a recovery scraper and a flexible scraper are arranged below the recovery bar fixing bracket, and a flexible part is arranged between the recovery scraper and the recovery bar fixing bracket, and the recovery scraper is in close contact with the metal wall surface through the flexible part and the adsorption part together with the change of the curvature of the metal wall surface; an aluminum profile extension rod is arranged on the mounting plate, and the aluminum profile extension rod is connected to the adaptive adjustment mechanism.

[0016] Furthermore, the adaptive adjustment mechanism includes: a sliding component connected to the aluminum profile extension rod; an adjustment component arranged between the sliding component and the main connecting plate, and the sliding component drives the adjustment component and the main cleaning component to make adaptive adjustments relative to the main cleaning component as the curvature of the metal wall changes.

[0017] The technical solution of the utility model has the following advantages:

[0018] The utility model provides a wall-climbing robot cleaning and recovery device, comprising: a robot body, wherein a walking mechanism and a rear steering wheel are provided on the robot body; a flexible recovery mechanism, which is arranged on the robot body, and the opening direction of the flexible recovery mechanism is consistent with the water flow direction; an adaptive adjustment mechanism, which has at least one, and the adaptive adjustment mechanism is connected to the flexible recovery mechanism; a cleaning mechanism, which is connected to the adaptive adjustment mechanism, and the adaptive adjustment mechanism drives the cleaning mechanism to move, and the cleaning mechanism comprises at least one main cleaning component and multiple sub-cleaning components, a high-pressure water pipe, and a cleaning liquid pipe, and the multiple sub-cleaning components are movably connected to the main cleaning component, and the high-pressure water pipe and the cleaning liquid pipe are arranged on the cleaning mechanism; a magnetic universal wheel, which is arranged on the main cleaning component and the sub-cleaning component, and the magnetic universal wheel drives the main cleaning component and the sub-cleaning component to be adsorbed and adhered to the metal wall surface; a flow regulating device, which is arranged on the robot body, and the flow regulating device is connected to the cleaning liquid pipe.

[0019] By providing a walking mechanism and a rear steering wheel on the robot body, the wall-climbing robot cleaning and recovery device can walk on the metal wall surface. Since both the walking mechanism and the rear steering wheel have magnetic force, the robot body can be firmly adsorbed on the metal wall surface.

[0020] At the same time, the adaptive adjustment mechanism can drive the main cleaning component and multiple sub-cleaning components in the cleaning mechanism to move, and cooperate with multiple magnetic universal wheels, so that the main cleaning component and multiple sub-cleaning components can be adaptively adjusted as the curvature on the metal wall changes, and adapt to the change of curvature on the metal wall to the greatest extent;

[0021] Among them, since the adaptive adjustment mechanism has no power source, and the multiple sub-cleaning components and the main cleaning component are movably connected, the adaptive adjustment mechanism moves with the robot body and makes adaptive adjustments according to the change of the curvature of the metal wall; therefore, the main cleaning component and the multiple sub-cleaning components, and the multiple magnetic universal wheels are in close contact with the metal wall, thereby ensuring the cleanliness of the cleaning and recovery device of the wall-climbing robot; at the same time, due to the setting of the flexible recovery mechanism, the cleaning oil and wastewater generated during the cleaning process can be quickly collected to ensure the cleanliness of the metal wall. In addition, the flow regulating device can adjust the flow of the cleaning liquid in time to avoid the situation of too little or too much cleaning liquid.

[0022] The wall-climbing robot cleaning and recovery device, due to the arrangement of the walking mechanism and the rear steering wheel, can achieve large curvature and variable curvature movement of the wall-climbing robot cleaning and recovery device. At the same time, the walking mechanism, the rear steering wheel, and the magnetic universal wheel can be magnetically adsorbed on the metal wall surface, that is, the movement of the wall-climbing robot cleaning and recovery device on the metal wall surface is achieved, thereby improving the flexibility of the wall-climbing robot cleaning and recovery device on the metal wall surface. At the same time, since the cleaning component includes a main cleaning component and multiple sub-cleaning components, and the multiple sub-cleaning components are movably connected to the main cleaning component, the cleaning area can be increased, thereby reducing the cleaning time of the wall-climbing robot cleaning and recovery device and reducing the cleaning cost.

[0023] The utility model summary is provided to introduce a selection of concepts in a simplified form, which will be further described in the following detailed description. The utility model summary is not intended to identify key features or essential features of the present disclosure, nor is it intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the structure of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0026] Figure 2 A three-dimensional diagram of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0027] Figure 3 A schematic diagram of the layout of the cleaning mechanism of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0028] Figure 4 A schematic diagram of the structure of the cleaning mechanism of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0029] Figure 5 A schematic diagram of the structure of the main cleaning component of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0030] Figure 6 A schematic diagram of the structure of the sub-cleaning components of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0031] Figure 7A schematic diagram of the structure of the flow regulating device of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0032] Figure 8 A schematic diagram of the structure of the electric propulsion assembly of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0033] Fig. 9 A schematic diagram of the installation structure of the flexible recovery mechanism of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0034] Fig.10 A schematic diagram of the structure of the flexible recovery mechanism of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0035] Fig.11 A schematic diagram of the structure of the flexible parts of the cleaning and recovery device of the wall-climbing robot provided by the utility model;

[0036] Fig.12 A schematic diagram of the structure of the adaptive adjustment mechanism of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0037] Fig.13 An exploded view of the adaptive adjustment mechanism of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0038] Fig.14 A side view of the rear steering wheel of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0039] Fig.15 A three-dimensional diagram of the adaptive adjustment mechanism of the wall-climbing robot cleaning and recovery device provided by the utility model;

[0040] Fig.16 A three-dimensional diagram of the ring frame of the wall-climbing robot cleaning and recovery device provided by the utility model.

[0041] Description of reference numerals:

[0042] 1. Robot body; 101. Walking mechanism; 102. Rear steering wheel; 103. Support handle; 104. Vertical axis; 105. Turn plate; 106. Lower support plate; 107. Short axis; 108. Ring frame; 109. Magnet; 110. Wheel axle; 111. Roller; 112. Quick release plug; 113. Bearing

[0043] 2. Flexible recovery mechanism; 201. Recovery trough; 202. Mounting plate; 203. Recovery bar fixing bracket; 204. Recovery scraper; 205. Flexible scraper; 206. Flexible part; 207. Aluminum profile extension rod; 208. Pin shaft; 209. Connecting rod; 210. Telescopic spring; 211. Plastic bushing; 212. Recovery pipe; 213. Mounting joint;

[0044] 3. Adaptive adjustment mechanism; 301. Sliding assembly; 302. Adjustment assembly; 303. Sliding block; 304. Slide rail; 305. Adapter; 306. Fixing member; 307. Angle adjustment member; 308. Connecting block; 309. First rotating shaft; 310. Second rotating shaft; 311. Fixed connecting member;

[0045] 4. Cleaning mechanism; 411. Main cleaning assembly; 412. Main connecting plate; 413. Main driving mechanism; 414. Main cleaning brush plate; 415. Sub-cleaning assembly; 416. Sub-connecting plate; 417. Sub-driving mechanism; 418. Sub-cleaning brush plate; 419. Support bracket; 420. Cleaning liquid nozzle; 421. Active connecting piece; 422. Power motor; 423. Speed ​​reducer; 424. Coupling; 425. Fixed bracket;

[0046] 5. High-pressure water pipe; 501. Water pipe fixing plate; 502. Water pipe fixing block; 503. High-pressure water nozzle; 504. Water pipe connector;

[0047] 6. Cleaning liquid pipe;

[0048] 7. Magnetic universal wheel;

[0049] 8. Flow regulating device; 801. Solenoid valve fixing base plate; 802. Upper cover plate; 803. Solenoid valve; 804. Solenoid valve fixing plate; 805. Electric push assembly; 806. Electric push rod fixing base plate; 807. Adjustment seat; 808. Electric push rod; 809. Tightening cap. DETAILED DESCRIPTION

[0050] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0051] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0053] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0054] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0055] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0056] Since the radius of the tower becomes smaller and smaller and the curvature becomes larger from bottom to top, the cleaning working surface covered by the cleaning mechanism 4 is not only a curved surface, but also the radius of the curved surface of the tower changes from bottom to top. If the rotating cleaning brush disc wants to adapt to this working condition, the cleaning brush disc connecting plate must adapt to the tower radius that changes from bottom to top. Therefore, a magnetic universal wheel 7 can be set on the sub-cleaning component 415, and the magnetic universal wheel 7 is used for support, so that the need to adapt to the curved surface can be met.

[0057] However, if only one main cleaning component 411 is used for cleaning, the cleaning efficiency will be relatively low. If the diameter of the cleaning component is too large, the cleaning brush disc will not be in good contact with the tower surface during the cleaning process (close contact in the middle and loose contact on both sides). Therefore, a wider cleaning width can only be achieved by setting multiple cleaning components. If multiple cleaning components are used, each cleaning component requires an adaptive adjustment mechanism 3 and three magnetic universal wheels 7, which has a complex structure, not only increasing the weight of the equipment but also increasing the equipment cost.

[0058] The utility model adopts multiple sub-cleaning components 415 and the main cleaning component 411 as active connections, and uses a common adaptive adjustment mechanism 3 and a magnetic universal wheel 7, thereby increasing the cleaning width, reducing the number of magnetic universal wheels, and reducing the weight and cost of the mechanism.

[0059] See also Figures 1 to 16As shown, the utility model provides a wall-climbing robot cleaning and recovery device, comprising: a robot body 1, on which a walking mechanism 101 and a rear steering wheel 102 are provided; a flexible recovery mechanism 2, which is provided on the robot body 1, and the opening direction of the flexible recovery mechanism 2 is consistent with the water flow direction; an adaptive adjustment mechanism 3, which has at least one, and the adaptive adjustment mechanism 3 is connected to the flexible recovery mechanism 2; a cleaning mechanism 4, which is connected to the adaptive adjustment mechanism 3, and the adaptive adjustment mechanism 3 drives the cleaning mechanism 4 to move, and the cleaning mechanism 4 includes to At least one main cleaning component 411 and multiple sub-cleaning components 415, a high-pressure water pipe 5, and a cleaning liquid pipe 6, multiple sub-cleaning components 415 are movably connected to the main cleaning component 411, and the high-pressure water pipe 5 and the cleaning liquid pipe 6 are arranged on the cleaning mechanism 4; a magnetic universal wheel 7 is arranged on the main cleaning component 411 and the sub-cleaning component 415, and the magnetic universal wheel 7 drives the main cleaning component 411 and the sub-cleaning component 415 to be adsorbed and adhered to the metal wall surface; a flow regulating device 8 is arranged on the robot body 1, and the flow regulating device 8 is connected to the cleaning liquid pipe 6.

[0060] By providing a walking mechanism 101 and a rear steering wheel 102 on the robot body 1, the wall-climbing robot cleaning and recovery device can walk on the metal wall surface. Since the walking mechanism 101, the rear steering wheel 102, and the magnetic universal wheel 7 all have magnetic force, the robot body 1 can be firmly adsorbed on the metal wall surface.

[0061] At the same time, the adaptive adjustment mechanism 3 can drive the main cleaning component 411 and the multiple sub-cleaning components 415 in the cleaning mechanism 4 to move, and cooperate with the multiple magnetic universal wheels 7, so that the main cleaning component 411 and the multiple sub-cleaning components 415 can move and make adaptive adjustments to adapt to the change of curvature on the metal wall surface to the greatest extent;

[0062] Among them, since the adaptive adjustment mechanism 3 has no power source, and the multiple sub-cleaning components 415 and the main cleaning component 411 are movably connected, the adaptive adjustment mechanism 3 moves with the robot body 1 and makes adaptive adjustments according to the change of the curvature of the metal wall surface; therefore, the main cleaning component 411 and the multiple sub-cleaning components 415, and the multiple magnetic universal wheels 7 are in close contact with the metal wall surface, thereby ensuring the cleanliness of the cleaning and recovery device of the wall-climbing robot; during the cleaning process, the generated sewage flows back through gravity and is quickly collected by the flexible recovery mechanism 2 to ensure the cleanliness of the metal wall surface. This not only maintains the cleanliness, but also prevents the walking mechanism 101 from slipping or falling on the tower wall covered with oil and sewage. In addition, the flow regulating device 8 can adjust the flow of the cleaning liquid in time to avoid the situation of too little or too much cleaning liquid.

[0063] The wall-climbing robot cleaning and recovery device, due to the arrangement of the walking mechanism 101, the rear steering wheel 102 and the magnetic universal wheel 7, can realize the movement of the wall-climbing robot cleaning and recovery device with large curvature and variable curvature. At the same time, the walking mechanism 101, the rear steering wheel 102 and the magnetic universal wheel 7 can be magnetically adsorbed on the metal wall surface, that is, the movement of the wall-climbing robot cleaning and recovery device on the metal wall surface is realized, and the flexibility of the wall-climbing robot cleaning and recovery device on the metal wall surface is improved. At the same time, since the cleaning component includes a main cleaning component 411 and multiple sub-cleaning components 415, and the multiple sub-cleaning components 415 are movably connected to the main cleaning component 411, the cleaning area can be increased, thereby reducing the cleaning time of the wall-climbing robot cleaning and recovery device and reducing the cleaning cost.

[0064] There is one main cleaning component 411 and four sub-cleaning components 415 , and the four sub-cleaning components 415 are symmetrically arranged on both sides of the main cleaning component 411 .

[0065] Of course, multiple adaptive structures 3 may be provided, and therefore, multiple main cleaning components 411 connected to the adaptive structure 3 may be provided, and the number of sub-cleaning components 415 may be set according to actual conditions.

[0066] The main cleaning component 411 includes: a main connecting plate 412, which is connected to the adaptive adjustment mechanism 3 and to the cleaning liquid pipe 6; a main driving mechanism 413, which is arranged on the supporting bracket 419 of the main connecting plate 412; and a main cleaning brush plate 414, which is arranged at the bottom of the main connecting plate 412 and connected to the main driving mechanism 413.

[0067] By connecting the main connecting plate 412 with the adaptive adjustment mechanism 3, the main connecting plate 412 can be driven to move by the adaptive adjustment mechanism 3, and the cleaning liquid nozzle 420 can be set on the main connecting plate 412, and the cleaning liquid nozzle 420 is connected to the cleaning liquid pipe 6, and can spray cleaning liquid on the metal wall surface, and then use the main driving mechanism 413 to drive the main cleaning brush plate 414 to clean the metal wall surface, and then use the high-pressure water pipe 5 to rinse it. Since the opening direction of the flexible recovery mechanism 2 is consistent with the water flow direction, the sewage after cleaning can smoothly enter the flexible recovery mechanism 2 for recovery.

[0068] At the same time, the sub-cleaning component 415 includes: a sub-connecting plate 416, which is connected to the main connecting plate 412 via a movable connecting piece 421, the magnetic universal wheel 7 is arranged on the sub-connecting plate 416, and the sub-cleaning brush plate 418 is arranged at the bottom of the sub-connecting plate 416 and connected to the sub-driving mechanism 417.

[0069] The sub-connecting plate 416 is movably connected to the main connecting plate 412, so that the sub-connecting plate 416 can be driven to move by the main connecting plate 412, and the cleaning liquid nozzle 420 is arranged on the sub-connecting plate 416, and the cleaning liquid nozzle 420 is connected to the cleaning liquid pipe 6, so that the cleaning liquid can be sprayed on the metal wall surface, and then the sub-driving mechanism 417 is used to drive the sub-cleaning brush plate 418 to clean the metal wall surface, and then the high-pressure water pipe 5 is used to rinse it. Since the opening direction of the flexible recovery mechanism 2 is consistent with the water flow direction, the sewage after cleaning can smoothly enter the flexible recovery mechanism 2 for recovery.

[0070] A fixing frame 425 is provided on the main connecting plate 412 and the sub-connecting plate 416 , and the fixing frame 425 is used to fix the cleaning liquid spray head 420 .

[0071] The movable connecting member 421 is a hinge. Due to the setting of the hinge, the connection between the main connecting plate 412 and the plurality of sub-connecting plates 416 is realized, so that the cleaning mechanism 4 can move along with the adaptive adjustment mechanism 3.

[0072] Specifically, the main driving mechanism 413 and the sub-driving mechanism 417 both include: a power motor 422 and a reducer 423, the power motor 422 is connected to the reducer 423, and the reducer 423 is arranged on the supporting bracket 419; a coupling 424, which is arranged in the supporting bracket 419, one end of the coupling 424 is connected to the reducer 423, and the other end is connected to the main cleaning brush disc 414 or the sub-cleaning brush disc 418.

[0073] By arranging a support bracket 419 on the main connecting plate 412 and the sub-connecting plate 416, an installation position is provided for the power motor 422 and the reducer 423. At the same time, there is a coupling 424 at one end of the reducer 423, and the coupling 424 is connected to the main cleaning brush disc 414 or the sub-cleaning brush disc 418, thereby realizing the connection between the reducer 423 and the main cleaning brush disc 414 or the sub-cleaning brush disc 418, that is, the power motor 422 is used to drive the main cleaning brush disc 414 and the four sub-cleaning brush discs 418 to clean the oil and water stains on the surface of the wind turbine tower.

[0074] Among them, a water pipe fixing plate 501 is provided on the adaptive adjustment mechanism 3, and a water pipe fixing block 502 is provided on the water pipe fixing plate 501, and the water pipe fixing block 502 is connected to the aluminum profile extension rod 207, that is, the water pipe fixing plate 501 is fixed to the aluminum profile extension rod 207 for fixation; and a plurality of high-pressure water nozzles 503 are provided on the high-pressure water pipe 5, and two adjacent high-pressure water pipes 5 are connected by a water pipe connector 504.

[0075] In some optional embodiments, the flow regulating device 8 includes: a solenoid valve fixed base plate 801, the solenoid valve fixed base plate 801 is arranged on the robot body 1, an upper cover plate 802 is provided on the solenoid valve fixed base plate 801, a solenoid valve 803 is provided on the solenoid valve fixed base plate 801, and the solenoid valve 803 is provided on the high-pressure water pipe 5; an electric driving component 805, which is arranged on the solenoid valve fixed base plate 801, and the cleaning liquid pipe 6 runs through the electric driving component 805.

[0076] By setting the solenoid valve fixing base plate 801 on the robot body 1, an installation position is provided for the solenoid valve fixing base plate 801; at the same time, the setting of the upper cover plate 802 can protect the solenoid valve 803 and the electric driving component 805 in the upper cover plate 802, avoiding the solenoid valve 803 and the electric driving component 805 from being exposed to the outside and damaged.

[0077] A solenoid valve fixing plate 804 is also provided on the solenoid valve fixing base plate 801 , and the solenoid valve 803 is also fixed on the solenoid valve fixing plate 804 . The solenoid valve 803 is provided on the high-pressure water pipe 5 , and the solenoid valve 803 can be used to adjust the water flow.

[0078] Specifically, the electric push assembly 805 includes: an electric push rod fixed base plate 806, which is arranged on the solenoid valve fixed base plate 801, and an adjustment seat 807 is provided on the electric push rod fixed base plate 806, and the high-pressure water pipe 5 passes through the adjustment seat 807; an electric push rod 808, which is arranged on the electric push rod fixed base plate 806, and the electric push rod 808 is in contact with the cleaning liquid pipe 6.

[0079] By setting the electric push rod fixed base plate 806 on the solenoid valve fixed base plate 801, an installation position is provided for the electric push rod fixed base plate 806; at the same time, an adjustment seat 807 is provided on the electric push rod fixed base plate 806, and the cleaning liquid pipe 6 passes through the adjustment seat 807, and the electric push rod 808 is in contact with the cleaning liquid pipe 6, and the flow of the cleaning liquid pipe 6 can be adjusted by controlling the extension and retraction of the electric push rod.

[0080] Among them, the end of the electric push rod 808 is provided with a top tightening cap 809, and the top tightening cap 809 abuts against the cleaning liquid pipe 6, which plays a role in protecting the cleaning liquid pipe 6. At the same time, the top tightening cap 809 is a cone-shaped structure, which is also convenient for quickly adjusting the flow rate of the cleaning liquid.

[0081] In some optional embodiments, the rear steering wheel 102 and the magnetic universal wheel 7 both include: a support handle 103, the support handle 103 is connected to the robot body 1 or the sub-connecting plate 416, and a vertical axis 104 is provided in the support handle 103; a rotating plate 105, which is arranged below the support handle 103, and the vertical axis 104 passes through the rotating plate 105, and a lower support plate 106 is provided at the bottom of the rotating plate 105; a magnet 109, a ring frame 108 is sleeved on the magnet 109, and a short axis 107 passes through the lower support plate 106 and the ring frame 108; a roller 111, which is arranged on both sides of the magnet 109, and a wheel axle 110 passes through the magnet 109 and the roller 111.

[0082] The connection between the rear steering wheel 102 and the robot body 1 is achieved by the setting of the support handle 103. A turning plate 105 is set below the support handle 103. A vertical axis 104 is set at one end of the support handle 103 and the turning plate 105. The support handle 103 is fixed on the robot body 1 or the connecting plate 416 and does not move. The turning plate 105 can rotate 360° relative to the support handle 103 through the vertical axis 104 to drive the rear steering wheel 102 to rotate.

[0083] A bearing 113 is sleeved on the vertical shaft 104 . The arrangement of the bearing 113 facilitates the rotation of the vertical shaft 104 .

[0084] At the same time, the rotating plate 105 is also connected to the lower support plate 106. The lower support plate 106 has two, which are connected to the ring frame 108 through the short shaft 107, so as to realize the connection between the ring frame 108 and the lower support plate 106; and the ring frame 108 is sleeved on the magnet 109, and the rollers 111 are respectively arranged on both sides of the magnet 109, and then the axle 110 is used to connect the rollers 111 and the ring frame, as well as the magnet 109.

[0085] The ring frame 108 can drive the wheel shaft 110 to rotate around the horizontal line. The magnet 109 and the roller 111 are installed on the wheel shaft 110. The rotation of the wheel shaft 110 can drive the magnet 109 and the roller 111 to rotate together to adapt to the changes of the working curved surface.

[0086] The rollers 111 are non-metallic rollers 111 installed symmetrically on both sides, which are in direct contact with the metal wall surface and can freely rotate around the wheel axle 110 to meet the need of free rolling.

[0087] Moreover, the roller 111 can move independently, and the magnet 109 has an adsorption effect on the metal wall. It is composed of multiple pieces of magnetic material and magnetic conductive material.

[0088] In this embodiment, the magnet 109 is composed of three materials, the middle is a magnetic material, and the two sides are magnetic conductive materials. The magnetic material is axially magnetized.

[0089] In some optional embodiments, the flexible recovery mechanism 2 includes: a recovery trough 201, which is connected to the robot body 1, and a mounting plate 202 is arranged in the recovery trough 201, and a recovery bar fixing bracket 203 is provided on the mounting plate 202; a recovery scraper 204 and a flexible scraper 205, which are arranged below the recovery bar fixing bracket 203, and a flexible member 206 is provided between the recovery scraper 204 and the recovery bar fixing bracket 203, and the recovery scraper 204 is in close contact with the metal wall surface through the flexible member 206 and the adsorption member together with the change of the curvature of the metal wall surface; an aluminum profile extension rod 207, which is arranged on the mounting plate 202, and the aluminum profile extension rod 207 is connected to the adaptive adjustment mechanism 3.

[0090] By setting a mounting plate 202 in the recovery groove 201, the mounting plate 202 provides an installation position for the recovery bar fixing bracket 203 and the aluminum profile extension rod 207. The recovery bar fixing bracket 203 has two and is symmetrically arranged. The aluminum profile extension rod 207 is arranged in the middle of the mounting plate 202 and is connected to the adaptive adjustment mechanism 3.

[0091] The recovery scraper 204 and the flexible scraper strip 205 are arranged below the recovery strip fixing bracket 203 , and the recovery scraper 204 and the flexible scraper strip 205 can be used to collect sewage, so that the sewage quickly enters the recovery tank 201 .

[0092] At the same time, a flexible member 206 is provided between the recovery scraper 204 and the recovery bar fixing bracket 203. The setting of the flexible member 206 realizes the connection between the recovery scraper 204 and the recovery bar fixing bracket 203, and uses an adsorption member to adsorb the recovery scraper 204 on the metal wall surface.

[0093] The adsorbent is a magnet, and there are multiple magnets, which are arranged at intervals on the recovery scraper 204. Through the arrangement of the adsorbent and the flexible member 206, the shape of the recovery scraper 204 changes with the curvature of the metal wall, so as to achieve close contact with the metal wall.

[0094] Specifically, the flexible member 206 includes a pin shaft 208 and a connecting rod 209, a telescopic spring 210, and a plastic sleeve 211; the pin shaft 208 is arranged on the mounting seat of the recovery scraper 204, and the pin shaft 208 passes through the connecting rod 209, the telescopic spring 210 is sleeved on the connecting rod 209, and the plastic sleeve 211 is arranged on the top of the connecting rod 209; through the connection between the pin shaft 208 and the connecting rod 209, the telescopic spring 210, and the plastic sleeve 211 and the recovery scraper 204, the recovery scraper 204 can change with the change of curvature on the metal wall surface, that is, it is in close contact with the metal wall surface, ensuring that the cleaned oil and wastewater flow smoothly into the recovery tank 201 for collection.

[0095] At the same time, a recovery pipe 212 is also provided on the recovery tank 201 . The recovery pipe 212 is provided at both ends of the recovery tank 201 through mounting joints 213 , and is used to discharge the water in the recovery tank 201 .

[0096] The robot body 1 is provided with a quick-release plug 112 , which is connected to the recovery tank 201 , and can be quickly connected to and removed from the recovery tank 201 through the quick-release plug 112 .

[0097] In some optional embodiments, the adaptive adjustment mechanism 3 includes: a sliding component 301, which is connected to the aluminum profile extension rod 207; an adjustment component 302, which is arranged between the sliding component 301 and the main connecting plate 412. The sliding component 301 drives the adjustment component 302 and the main cleaning component 411 to make adaptive adjustments relative to the main cleaning component 411 as the curvature of the metal wall changes.

[0098] By connecting the adaptive adjustment mechanism 3 to the robot body 1 and arranging the sliding component 301 and the adjustment component 302, the cleaning mechanism 4 as a whole can be adjusted within a certain range such as up and down, left and right, front and back.

[0099] The sliding assembly 301 includes a slider 303 and a slide rail 304, an adapter 305, and a fixing member 306; wherein the fixing member 306 is connected to the aluminum profile extension rod 207, the adapter 305 is connected to the fixing member 306, and the slider 303 is connected to the adapter 305, the slider 303 is slidably connected to the slide rail 304, and the adjustment assembly 302 is arranged at the bottom of the slide rail 304, so that the main cleaning assembly 411 can be driven to move up and down through the robot body 1 to adapt to the metal wall surface.

[0100] This arrangement further drives the movement of the adjustment component 302 and the main cleaning component 411 in the extension direction of the slide rail 304 , that is, realizes the movement of the adjustment component 302 and the main cleaning component 411 in the vertical direction of the slide rail 304 .

[0101] In addition, the setting of the adjustment component 302 can adjust the angles of the main cleaning component 411 and the sub-cleaning component 415 on the metal wall surface, so that the main cleaning component 411 and the sub-cleaning component 415 can be more closely contacted with the metal wall surface, so that the main cleaning component 411 and the sub-cleaning component 415 can better clean the metal wall surface and avoid omissions.

[0102] There are two sliders 303, which are installed on two slide rails 304. At the same time, fixed connectors 311 are arranged on the slide rails 304, that is, the two slide rails 304 are formed into a whole. The connection of the two slide rails 304 is realized by the fixed connector, which ensures the stability of the movement of the adjustment component 302 and the main cleaning component 411.

[0103] In some optional embodiments, the adjustment component 302 includes an angle adjustment member 307, which is arranged at the bottom of the slide rail 304; there are two connecting blocks 308, the two connecting blocks 308 are arranged on the main connecting plate 412, a first rotating shaft 309 is arranged between the two connecting blocks 308, the angle adjustment member 307 is arranged on the first rotating shaft 309 through a second rotating shaft 310, and the first rotating shaft 309 and the second rotating shaft 310 are perpendicular to each other. Thus, the adaptive adjustment mechanism 3 is realized to rotate relative to each other in two directions, so that the main cleaning component 411 adapts to the change of the curvature of the metal wall.

[0104] The angle adjusting member 307 includes an L-shaped folding plate and two vertical plates, and a gap is provided between the two vertical plates for accommodating the first rotating shaft 309. In order to facilitate the connection between the angle adjusting member 307 and the first rotating shaft 309, the middle part of the first rotating shaft 309 can be set to be a prism.

[0105] When the wall-climbing robot cleaning and recovery device is actually used, the cleaning mechanism 4 and the flexible recovery mechanism 2 are fixed on the robot body 1. The cleaning mechanism 4 uses five rotating cleaning brush discs to clean the oil stains, water stains and other attachments on the surface of the wind turbine tower. While the cleaning brush discs are cleaning, the cleaning liquid nozzle 420 sprays the cleaning liquid on the surface of the tower to be cleaned. After the cleaning brush discs are cleaned, the high-pressure water nozzle 503 is used to perform high-pressure washing on the cleaned area.

[0106] In the case of a vertical tower: after high-pressure washing, the cleaned oil stains, water stains and other attachments are recovered through the recovery scraper 204 and the recovery tank 201;

[0107] In the case of a horizontal tower: after high-pressure washing, a flexible scraper strip 205 is added to the recovery scraper 204 to scrape the washed surface without recycling.

[0108] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A wall-climbing robot cleaning and recovery device, characterized in that: include: A robot body (1), wherein the robot body (1) is provided with a walking mechanism (101) and a rear steering wheel (102); A flexible recovery mechanism (2) is arranged on the robot body (1), and the opening direction of the flexible recovery mechanism (2) is consistent with the direction of water flow; An adaptive adjustment mechanism (3), having at least one, wherein the adaptive adjustment mechanism (3) is connected to the flexible recovery mechanism (2); A cleaning mechanism (4) connected to the self-adaptive adjustment mechanism (3), the self-adaptive adjustment mechanism (3) drives the cleaning mechanism (4) to move, the cleaning mechanism (4) comprises at least one main cleaning component (411) and a plurality of sub-cleaning components (415), a high-pressure water pipe (5), and a cleaning liquid pipe (6), the plurality of sub-cleaning components (415) are movably connected to the main cleaning component (411), and the high-pressure water pipe (5) and the cleaning liquid pipe (6) are arranged on the cleaning mechanism (4); A magnetic universal wheel (7) is provided on the main cleaning component (411) and the sub-cleaning component (415), and the magnetic universal wheel (7) drives the main cleaning component (411) and the sub-cleaning component (415) to be adsorbed and adhered to the metal wall surface; A flow regulating device (8) is arranged on the robot body (1), and the flow regulating device (8) is connected to the cleaning liquid pipe (6).

2. The wall-climbing robot cleaning and recovery device according to claim 1, characterized in that: The main cleaning component (411) comprises: A main connecting plate (412), the main connecting plate (412) being connected to the adaptive adjustment mechanism (3) and connected to a cleaning liquid pipe (6); A main driving mechanism (413) is arranged on a supporting bracket (419) of the main connecting plate (412); The main cleaning brush plate (414) is arranged at the bottom of the main connecting plate (412) and is connected to the main driving mechanism (413).

3. The wall-climbing robot cleaning and recovery device according to claim 2, characterized in that: The sub-cleaning assembly (415) comprises: A sub-connecting plate (416), the sub-connecting plate (416) being connected to the main connecting plate (412) via a movable connecting piece (421), and the magnetic universal wheel (7) being arranged on the sub-connecting plate (416); A sub-driving mechanism (417) is arranged on a supporting bracket (419) of the sub-connecting plate (416); The sub-cleaning brush plate (418) is arranged at the bottom of the sub-connecting plate (416) and is connected to the sub-driving mechanism (417).

4. The wall-climbing robot cleaning and recovery device according to claim 3, characterized in that: The main driving mechanism (413) and the sub-driving mechanism (417) both include: a power motor (422) and a reducer (423), wherein the power motor (422) is connected to the reducer (423), and the reducer (423) is arranged on the support bracket (419); A coupling (424) is arranged in the supporting bracket (419), one end of the coupling (424) is connected to the reducer (423), and the other end is connected to the main cleaning brush disc (414) or the sub-cleaning brush disc (418).

5. The wall-climbing robot cleaning and recovery device according to claim 3, characterized in that: The movable connecting member (421) is a hinge.

6. The wall-climbing robot cleaning and recovery device according to any one of claims 2 to 4, characterized in that: The flow regulating device (8) comprises: A solenoid valve fixing base plate (801), the solenoid valve fixing base plate (801) being arranged on the robot body (1), an upper cover plate (802) being arranged on the solenoid valve fixing base plate (801), a solenoid valve (803) being arranged on the solenoid valve fixing base plate (801), and the solenoid valve (803) being arranged on the high-pressure water pipe (5); The electric driving component (805) is arranged on the electromagnetic valve fixed bottom plate (801), and the cleaning liquid pipe (6) passes through the electric driving component (805).

7. The wall-climbing robot cleaning and recovery device according to claim 6, characterized in that: The electric propulsion assembly (805) comprises: An electric push rod fixed base plate (806) is arranged on the electromagnetic valve fixed base plate (801), an adjustment seat (807) is arranged on the electric push rod fixed base plate (806), and the cleaning liquid pipe (6) passes through the adjustment seat (807); The electric push rod (808) is arranged on the electric push rod fixing base plate (806), and the electric push rod (808) is in contact with the cleaning liquid pipe (6).

8. The wall-climbing robot cleaning and recovery device according to claim 7, characterized in that: The rear steering wheel (102) and the magnetic universal wheel (7) both include: A support handle (103), the support handle (103) being connected to the robot body (1) or the sub-connection plate (416), and a vertical shaft (104) being provided inside the support handle (103); A rotating plate (105) is arranged below the supporting handle (103); the vertical axis (104) passes through the rotating plate (105); and a lower supporting plate (106) is arranged at the bottom of the rotating plate (105); A magnet (109), a ring frame (108) is sleeved on the magnet (109), and a short shaft (107) passes through the lower support plate (106) and the ring frame (108); The roller (111) is arranged on both sides of the magnet (109), and the wheel shaft (110) passes through the magnet (109) and the roller (111).

9. The wall-climbing robot cleaning and recovery device according to claim 8, characterized in that: The flexible recovery mechanism (2) comprises: A recycling tank (201) connected to the robot body (1), and a mounting plate (202) is arranged in the recycling tank (201), and a recycling bar fixing bracket (203) is arranged on the mounting plate (202); A recovery scraper (204) and a flexible scraper strip (205) are arranged below the recovery strip fixing bracket (203); a flexible member (206) is arranged between the recovery scraper (204) and the recovery strip fixing bracket (203); the recovery scraper (204) is in close contact with the metal wall surface through the flexible member (206) and the adsorption member together with the change of the curvature of the metal wall surface; An aluminum profile extension rod (207) is disposed on the mounting plate (202), and the aluminum profile extension rod (207) is connected to the self-adaptive adjustment mechanism (3).

10. The wall-climbing robot cleaning and recovery device according to claim 9, characterized in that: The adaptive adjustment mechanism (3) comprises: A sliding assembly (301) connected to the aluminum profile extension rod (207); The adjusting component (302) is arranged between the sliding component (301) and the main connecting plate (412). The sliding component (301) drives the adjusting component (302) and the main cleaning component (411) to make adaptive adjustments relative to the main cleaning component (411) as the curvature of the metal wall changes.

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