Walking device and cleaning equipment with same

Abstract

The utility model relates to the technical field of cleaning equipment, and discloses a walking device and cleaning equipment with the walking device. The walking device comprises a body on which a movement mechanism is mounted; the bottom of the negative pressure adsorption assembly is provided with an adsorption part, the adsorption part is communicated with an air exhaust sleeve, the adsorption part is in running fit with the air exhaust sleeve, the air exhaust sleeve is movably sleeved with a limiting sleeve, and the limiting sleeve is fixedly connected with the body; and the negative pressure air exhaust assembly communicates with the air exhaust sleeve and is suitable for performing negative pressure extraction on the adsorption part. When the walking device needs to turn, the adsorption part firstly sucks the surface subjected to cleaning operation and then turns in situ, after turning is completed, negative pressure of the adsorption part is relieved, the walking device executes following linear walking, and sliding-free turning of the walking device on a large inclined plane is achieved. Therefore, the walking device can work on a large-angle smooth inclined plane of about 30 degrees.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, in particular to a walking device and cleaning equipment having the same. Background Art

[0002] Many machines and equipment used outdoors are exposed to the elements year-round, and their surfaces accumulate a large amount of dust, bird droppings, and other dirt. This is not only unsightly, but also easily affects the efficiency of the machines and equipment, shortening their service life. Therefore, these machines and equipment require regular cleaning. Among the many cleaning methods, using cleaning robots to clean the surfaces of machines and equipment is a relatively common one.

[0003] Cleaning robots typically use wheel-track mechanisms to navigate the surface they need to clean. However, due to the high speed of these mechanisms, precise steering angle control is difficult, making them prone to slipping on the surface they are cleaning. Once a cleaning robot slips, the planned cleaning path is disrupted, preventing it from fully cleaning the designated area. This can leave dirty areas behind and affect cleaning effectiveness. Utility Model Content

[0004] In view of this, the present invention provides a walking device and a cleaning device having the same, so as to solve the problem of the risk of slipping when the cleaning robot turns on the cleaning operation surface.

[0005] In a first aspect, the present invention provides a walking device, comprising:

[0006] a main body, on which a motion mechanism is mounted;

[0007] The negative pressure adsorption component has an adsorption piece at its bottom, which is connected to an exhaust sleeve. The adsorption piece and the exhaust sleeve are rotatably matched, and a limit sleeve is movably installed on the outside of the exhaust sleeve, and the limit sleeve is fixedly connected to the body;

[0008] The negative pressure exhaust component is connected to the exhaust sleeve, and the negative pressure exhaust component is suitable for exhausting negative pressure on the adsorption component.

[0009] When the walking device moves on an inclined surface, such as a surface for cleaning operations, the motion mechanism supports itself in front of the inclined surface and moves in a straight line without slipping. When the walking device needs to turn, the negative pressure exhaust assembly is turned on, and the air inside the adsorption element is extracted by the negative pressure exhaust assembly through the exhaust sleeve, so that the adsorption element is adsorbed and fixed to the inclined surface, limiting the overall position of the walking device. The rotational coordination between the adsorption element and the exhaust sleeve allows the adsorption element to have rotational freedom, and the wheel differential of the motion mechanism on both sides of the walking device is used to turn, thus achieving non-slip turning of the walking device on large inclined surfaces. After turning in place, the negative pressure adsorption state of the adsorption element is destroyed by closing the negative pressure exhaust assembly, and the linear movement of the motion mechanism is no longer constrained by the position of the suction cup. When the walking device needs to turn, the adsorption element first absorbs the surface for cleaning operations and then turns in place. After the turn is completed, the adsorption element releases the negative pressure, and the walking device performs the next straight-line movement. When the walking device passes over uneven areas on the cleaning surface, the suction sleeve cooperates with the inner and outer arrangements of the limiting sleeve, allowing the suction element to passively lift, causing the suction sleeve to passively move upward relative to the limiting sleeve. When the walking device passes over a raised area, the suction element falls under the action of gravity. This allows the suction element to passively rise and fall with the unevenness of the area the walking device passes through, giving the walking device excellent obstacle-crossing capabilities and ensuring smooth movement even in areas with protrusions and pits.

[0010] In an optional embodiment, a connecting piece is fixedly installed at one end of the exhaust sleeve connected to the adsorption piece, and the adsorption piece is rotatably installed at the end of the connecting piece away from the exhaust sleeve. A through hole is provided on the connecting piece, which connects the exhaust sleeve with the adsorption piece.

[0011] The suction sleeve is rotatably connected to the adsorption piece through a connecting piece, and a through hole is provided to connect the adsorption piece and the suction sleeve, which serves as a negative pressure extraction channel for the adsorption piece. While ensuring the stable rotational connection between the adsorption piece and the suction sleeve, the sealing between the adsorption piece and the suction sleeve is maintained to avoid air leakage at the connection between the adsorption piece and the suction sleeve.

[0012] In an optional embodiment, a connecting block is provided at one end of the connecting member that cooperates with the adsorption member, the through hole passes through the connecting block, a connecting groove is provided on the adsorption member, and the connecting block is cooperated and connected with the connecting groove.

[0013] The connecting block can be a spherical, hemispherical, ellipsoidal, cylindrical, truncated cone or other structures with a circular outer circumference. The shape of the connecting groove is adapted to the shape of the connecting block, so that after the connecting block and the connecting groove are matched and connected, the connecting block can rotate freely relative to the connecting groove to ensure the rotational freedom of the adsorption part relative to the exhaust sleeve.

[0014] In an optional embodiment, the negative pressure exhaust assembly includes a vacuum pump and a reversing valve, the first valve port of the reversing valve is connected to the vacuum pump through a first exhaust pipeline, and the second valve port of the reversing valve is connected to the exhaust sleeve through a second exhaust pipeline.

[0015] A reversing valve is installed, with the first valve port of the reversing valve connected to the first exhaust sleeve and the second valve port connected to the second exhaust sleeve. When the second valve port of the reversing valve is connected to the first valve port, it is used to evacuate the adsorbent using a vacuum pump. The third valve port of the reversing valve can be connected to the outside air or to another inflatable component. When the second valve port of the reversing valve is connected to the third valve port, the adsorbent is exposed to negative pressure.

[0016] In an optional embodiment, the second air extraction pipeline is a flexible hose, so that when the air extraction sleeve moves up and down relative to the limiting sleeve, the second air extraction pipeline can move freely, thereby preventing the up and down movement of the air extraction sleeve from being restricted by the second air extraction pipeline.

[0017] In an optional embodiment, it further includes a sealed shell, which is enclosed with the main body to form an installation chamber, and the negative pressure adsorption component is installed in the installation chamber.

[0018] By installing the negative pressure adsorption component in a closed installation chamber formed by the sealed shell and the main body, external dust or sewage is prevented from overflowing from the installation chamber into the main body and causing damage to the electrical structure installed in the main body, thereby ensuring the waterproof and dustproof performance of the main body.

[0019] In an optional embodiment, a negative pressure base is further included, fixedly mounted on the main body, the negative pressure base being sealedly connected to the sealed housing, and the negative pressure adsorption assembly being disposed through the negative pressure base. By providing the negative pressure base and mounting it on the main body, sewage that enters the mounting chamber through the gap between the negative pressure adsorption assembly and the negative pressure base is confined to the negative pressure base area and ultimately discharged through the gap between the negative pressure base and the negative pressure adsorption assembly, thereby preventing the sewage from entering the internal cavity of the main body and causing damage to the electrical structure within the main body.

[0020] In an optional embodiment, a suction cup load-bearing member is fixedly installed in the installation chamber, and the limiting sleeve is fixedly connected to the suction cup load-bearing member.

[0021] In an optional embodiment, a compression elastic member is installed between the adsorption member and the limiting sleeve, and the compression elastic member is in a compressed state to apply pre-pressure to the adsorption member, so as to facilitate the adsorption member to be quickly adsorbed on the surface of the cleaning operation.

[0022] In a second aspect, the present invention further provides a cleaning device having the walking device of the present invention, wherein a cleaning assembly is mounted on the body of the walking device. Since the cleaning device includes the walking device and has the same effect as the walking device, details thereof will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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 any creative work.

[0024] Figure 1 This is a three-dimensional diagram of a walking device according to an embodiment of the present utility model.

[0025] Figure 2 for Figure 1 A cross-sectional view of the walking device in the AA direction is shown.

[0026] Figure 3 This is a structural diagram of the cooperative connection between the negative pressure adsorption component and the negative pressure exhaust component provided in an embodiment of the present utility model.

[0027] Figure 4 This is a structural diagram of the coordinated installation of the negative pressure base and the sealed housing provided in an embodiment of the present utility model.

[0028] Figure 5 This is a schematic structural diagram of the negative pressure adsorption component provided in an embodiment of the present utility model.

[0029] Figure 6 for Figure 5 A cross-sectional view of the negative pressure adsorption component in the BB direction is shown.

[0030] Figure 7 This is a schematic structural diagram of the coordinated connection of the negative pressure exhaust assembly provided in an embodiment of the present utility model.

[0031] Figure 8 This is a structural diagram of the reversing valve provided in an embodiment of the present utility model.

[0032] Figure 9 This is a structural schematic diagram of a cleaning device according to an embodiment of the present utility model.

[0033] Explanation of the accompanying drawings: 1. Main body; 2. Negative pressure adsorption assembly; 201. Adsorption part; 202. Exhaust sleeve; 203. Limiting sleeve; 204. Connecting part; 205. Connecting block; 206. Suction cup load-bearing part; 207. Compression elastic part; 208. Limiting step; 209. Through hole; 3. Negative pressure exhaust assembly; 301. Vacuum pump; 3011. Exhaust hole; 302. Reversing valve; 3021. First valve port; 3022. Second valve port; 3023. Third valve port; 303. First exhaust pipeline; 304. Second exhaust pipeline; 4. Moving mechanism; 5. Sealing shell; 6. Negative pressure base; 7. Cleaning scraper module; 8. Roller brush cleaning module. DETAILED DESCRIPTION

[0034] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0035] The following combination Figures 1 to 8 , describing the embodiments of the present utility model.

[0036] First, the present invention provides a walking device that can serve as the walking portion of various types of operating equipment, such as sweeping robots, floor scrubbers, photovoltaic panel cleaning robots, ship rust removal and painting robots, and building cleaning or inspection robots. It can also serve as the walking portion of large-scale mechanical equipment, such as cranes, forklifts, and shovels. The walking device can travel on both horizontal and inclined surfaces. Specifically, the walking device includes a main body 1, a negative pressure adsorption assembly 2 mounted at the bottom of the main body 1, and a negative pressure exhaust assembly 3.

[0037] The main body 1 is a shell structure or a frame structure. In this embodiment, in order to reduce the pollution of dust and sewage to the devices in the main body 1, the main body 1 adopts a shell structure, and a motion mechanism 4 is installed on the main body 1. The motion mechanism 4 can be a crawler walking mechanism, a walking mechanism, or multiple tires. In this embodiment, the motion mechanism 4 adopts a crawler walking mechanism, and a set of crawler walking mechanisms are installed on the left and right sides of the main body 1 as the motion mechanism 4. The negative pressure adsorption component 2 includes an adsorption member 201, an exhaust sleeve 202, and a limiting sleeve 203. The adsorption member 201 can be, for example, a negative pressure suction cup, which is arranged at the bottom of the negative pressure adsorption component 2. The exhaust sleeve 202 is connected to the top of the adsorption member 201. The adsorption member 201 and the exhaust sleeve 202 are rotatably engaged. The limiting sleeve 203 is movably mounted on the outside of the exhaust sleeve 202 so that the exhaust sleeve 202 can move up and down along the limiting sleeve 203. The limiting sleeve 203 is fixedly connected to the main body 1. The limiting sleeve 203, the exhaust sleeve 202 and the adsorption member 201 are coaxially arranged. In order to ensure the smoothness of the relative movement between the limiting sleeve 203 and the exhaust sleeve 202, the limiting sleeve 203 can directly use a linear bearing, or directly install a straight bearing between the limiting sleeve 203 and the exhaust sleeve 202. In this embodiment, the limiting sleeve 203 uses a linear bearing. The negative pressure exhaust component 3 is connected to the exhaust sleeve 202, and the negative pressure exhaust component 3 is used to exhaust negative pressure from the adsorption member 201. In this embodiment, the negative pressure exhaust component 3 is installed on the main body 1. In some other embodiments, the negative pressure exhaust component 3 can also be separately arranged outside the walking device.

[0038] When the walking device travels on an inclined cleaning surface, such as a photovoltaic panel, the motion mechanism 4 supports itself in front of the incline, allowing the walking device to move in a straight line without slipping. When the walking device needs to turn, the negative pressure exhaust assembly 3 is opened, and the air inside the suction element 201 is extracted by the negative pressure exhaust assembly 3 through the exhaust sleeve 202, causing the suction element 201 to be fixed to the inclined surface and restricting the overall position of the walking device. The rotational coordination between the suction element 201 and the exhaust sleeve 202 allows the suction element 201 to have rotational freedom relative to the main body 1. Turning is achieved by differentially rotating the wheels of the motion mechanism 4 on both sides of the walking device, enabling the walking device to turn without slipping on large inclines. After the turn is completed, the negative pressure exhaust assembly 3 is closed, breaking the negative pressure absorption state of the suction element 201. The linear movement of the motion mechanism 4 is no longer constrained by the position of the suction cup. When the walking device needs to turn, the suction element 201 first absorbs the cleaning surface and then turns in place. After the turn is completed, the suction element 201 releases the negative pressure, and the walking device continues to move in a straight line. When the walking device passes over an uneven area on the surface being cleaned, the suction member 201 can be passively lifted due to the cooperation between the exhaust sleeve 202 and the limiting sleeve 203, and the exhaust sleeve 202 passively moves upward relative to the limiting sleeve 203. When the walking device passes over a raised area, the suction member 201 falls under the action of gravity. This allows the suction member 201 to passively rise and fall with the ups and downs of the area the walking device passes through, giving the walking device excellent obstacle-crossing capabilities and ensuring that the walking device can still move smoothly in areas with protrusions or pits.

[0039] In one embodiment, a connecting piece 204 is fixedly installed at one end of the exhaust sleeve 202 connected to the adsorption piece 201, and the adsorption piece 201 is rotatably installed at the end of the connecting piece 204 away from the exhaust sleeve 202. A through hole 209 is provided on the connecting piece 204, and the through hole 209 connects the exhaust sleeve 202 with the adsorption piece 201.

[0040] The exhaust sleeve 202 is rotatably connected to the adsorption piece 201 through the connecting piece 204, and a through hole 209 is provided to connect the adsorption piece 201 and the exhaust sleeve 202, which serves as a negative pressure extraction channel for the adsorption piece 201. While ensuring the stable rotational connection between the adsorption piece 201 and the exhaust sleeve 202, the sealing between the adsorption piece 201 and the exhaust sleeve 202 is maintained to avoid air leakage at the connection between the adsorption piece 201 and the exhaust sleeve 202.

[0041] In one embodiment, the connecting post of the connecting member 204 is threadedly connected to the exhaust sleeve 202. The connecting member 204 and the exhaust sleeve 202 are coaxially arranged. A connecting block 205 is provided at one end of the connecting member 204 that mates with the adsorption member 201. The adsorption member 201 is provided with a connecting groove, and the connecting block 205 mates with the connecting groove. A through hole 209 penetrates the connecting member 204 along its axial direction.

[0042] The connecting block 205 can be a spherical, hemispherical, ellipsoidal, cylindrical, truncated cone or other structure with a circular outer circumference. The shape of the connecting groove is adapted to the shape of the connecting block 205, so that after the connecting block 205 is connected to the connecting groove, the connecting block 205 can rotate freely relative to the connecting groove to ensure the rotational freedom of the adsorption part 201 relative to the exhaust sleeve 202.

[0043] In one embodiment, the negative pressure exhaust assembly 3 includes a vacuum pump 301 and a reversing valve 302. A first valve port 3021 of the reversing valve 302 communicates with the vacuum pump 301 via a first exhaust line 303, and a second valve port 3022 of the reversing valve 302 communicates with the exhaust sleeve 202 via a second exhaust line 304. In this embodiment, both the vacuum pump 301 and the reversing valve 302 can be installed within the inner cavity of the body 1. To facilitate automated control, the reversing valve 302 in this embodiment is a solenoid valve.

[0044] The reversing valve 302 is installed, and the first valve port 3021 of the reversing valve 302 is connected to the first air extraction pipeline 303, and the second valve port 3022 is connected to the second air extraction pipeline 304. When the second valve port 3022 of the reversing valve 302 is connected to the first valve port 3021, it is used to evacuate air from the adsorbent 201 using the vacuum pump 301. The third valve port 3023 of the reversing valve 302 can be connected to the outside air or to another inflatable component. When the second valve port 3022 and the third valve port 3023 of the reversing valve 302 are connected, the negative pressure in the adsorbent 201 is relieved. Specifically, when the vacuum pump 301 is operating, the third valve port 3023 is closed, the first valve port 3021 and the second valve port 3022 are opened, and the vacuum pump 301 is connected to the exhaust sleeve 202 through the first exhaust pipe 303, the reversing valve 302, and the second exhaust pipe 304, thereby extracting air from the adsorbent 201 and discharging it from the exhaust port 3011 of the vacuum pump 301. When the negative pressure in the adsorbent 201 is released, the vacuum pump 301 is powered off, the exhaust port 3011 of the vacuum pump 301 is closed, and the third valve port 3023 is opened. Air enters the adsorbent 201 from the third valve port 3023 through the reversing valve 302, the second exhaust pipe 304, and the exhaust sleeve 202. In one embodiment, the first exhaust pipe 303 can be a flexible pipe or a rigid pipe. The second exhaust pipe 304 can be a flexible hose. This allows the second air extraction pipeline 304 to move freely when the air extraction sleeve 202 moves up and down relative to the limiting sleeve 203 , thereby preventing the up and down movement of the air extraction sleeve 202 from being restricted by the second air extraction pipeline 304 .

[0045] In one embodiment, the traveling device further comprises a sealed housing 5, which, together with the body 1, forms an installation chamber, within which the main body of the negative pressure adsorption assembly 2 is mounted. Mounting the negative pressure adsorption assembly 2 within the enclosed installation chamber formed by the sealed housing 5 and the body 1 prevents external dust or sewage from entering the negative pressure adsorption assembly 2 and damaging the mechanical structure therein, thereby ensuring the waterproof and dustproof performance of the negative pressure adsorption assembly 2.

[0046] In one embodiment, the walking device also includes a negative pressure base 6, which is fixedly mounted on the main body 1. The negative pressure base 6 is sealedly connected to the sealing shell 5 on the bottom plate of the negative pressure base 6. The bottom plate of the negative pressure base 6 is arranged relative to the opening of the negative pressure base 6, and the negative pressure adsorption component 2 passes through the bottom plate of the negative pressure base 6. By setting the negative pressure base 6 and installing it on the main body 1, since there is a gap between the through opening on the bottom plate of the negative pressure base 6 and the negative pressure adsorption component 2, the sewage flowing onto the main body 1 may enter the installation chamber through the gap, thereby preventing the sewage from entering the inner cavity of the main body. The negative pressure base 6 provided in this embodiment is provided with isolation baffles on the three sides of the negative pressure base 6, and one side is not provided with an isolation baffle to facilitate the installation of the negative pressure adsorption component 2 on the negative pressure base 6.

[0047] In one embodiment, a suction cup load-bearing member 206 is fixedly installed in the installation chamber, and the limiting sleeve 203 is fixedly connected to the suction cup load-bearing member 206. The suction cup load-bearing member 206 can be a frame structure, a plate structure, or a shell support mechanism. In this embodiment, the suction cup load-bearing member 206 is a "concave"-shaped plate structure, and the limiting sleeve 203 is fixedly connected to the plate structure.

[0048] In one embodiment, a compression elastic member 207 is installed between the adsorption member 201 and the limiting sleeve 203. The compression elastic member 207 is in a compressed state to apply pre-pressure to the adsorption member 201. This facilitates the adsorption member 201 to be quickly adsorbed on the surface of the cleaning operation. The compression elastic member 207 can be a compression spring, a compression rubber, a compression torsion spring, or other structures that can apply elastic force. In this embodiment, the compression elastic member 207 is a compression spring. The compression elastic member 207 serves as an auxiliary compression structure of the adsorption member 201. In some other embodiments, the compression elastic member 207 may not be provided.

[0049] In the walking device provided in this embodiment, the interior of the main body 1 has a accommodating cavity, and the suction cup load-bearing member 206 is installed in the accommodating cavity of the main body 1. Furthermore, the suction cup load-bearing member 206 can be installed in an installation chamber formed by the sealed shell 5 and the main body 1. In one implementation, the negative pressure base 6 is provided on the main body 1, and the suction cup load-bearing member 206 is fixedly connected to the negative pressure base 6. The linear bearing serving as the limiting sleeve 203 is fixed on the suction cup load-bearing member 206. The exhaust sleeve 202 can move up and down inside the limiting sleeve 203, and the upper end of the exhaust sleeve 202 is connected to the second valve port 3022 of the reversing valve 302 through the second exhaust pipeline 304. In one embodiment, the connection between the two can be achieved through an adapter. The first valve port 3021 of the reversing valve 302 is connected to the vacuum pump 301, the second valve port 3022 is connected to the negative pressure suction cup, and the third valve port 3023 is connected to the atmosphere. The lower end of the suction sleeve 202 is connected to the negative pressure suction cup via a spherical connector 204, which is rotatably and sealedly connected to the negative pressure suction cup. A limit step 208 is provided on the suction sleeve 202, and a compression spring is installed on the suction sleeve 202 between the limit step 208 and the limit sleeve 203 to provide initial downward pressure to the negative pressure suction cup, facilitating its rapid attachment to the surface being cleaned.

[0050] When the negative pressure adsorption component 2 is working, the vacuum pump 301 is turned on, and the air in the negative pressure suction cup will be evacuated by the vacuum pump 301 through the reversing valve 302. The gas is discharged from the exhaust hole 3011 of the vacuum pump 301. At this time, the negative pressure suction cup can be smoothly adsorbed on the surface of the cleaning operation. When the main body 1 rotates, the connector 204 with the spherical connecting block 205 will rotate relative to the negative pressure suction cup. When the negative pressure suction cup is released from the negative pressure, the vacuum pump 301 is closed, and the reversing valve 302 connects the air outlet of the negative pressure suction cup to the air through reversing. At this time, the air is quickly sucked into the space between the negative pressure suction cup and the surface of the cleaning operation under the action of the negative pressure inside the negative pressure suction cup, thereby releasing the negative pressure adsorption state of the negative pressure suction cup. The sealed shell 5 is sealed with the main body 1, and the main part of the negative pressure adsorption component 2 is installed in the sealed installation chamber. In this way, the entire negative pressure adsorption component 2 is completely sealed, ensuring its waterproof and dustproof performance.

[0051] The motion mechanism 4 does not slip when the walking device is moving in a straight line. When the walking device turns, the negative pressure suction cup first sucks the surface of the cleaning operation and then turns in place. After the turn is completed, the negative pressure suction cup releases the negative pressure, and the motion mechanism 4 performs the next straight line movement. Before the walking device turns, the vacuum pump 301 is turned on, and the vacuum suction cup is fixed to the inclined surface of the cleaning operation, which limits the position of the walking device and releases the rotational freedom. The crawler walking devices on both sides turn differentially, realizing a non-slip turn of the walking device on a large slope. After turning in place, the adsorption state of the negative pressure suction cup is destroyed by switching the reversing valve 302, and the movement of the walking device is no longer constrained by the position of the suction cup. This enables the walking device to operate on a smooth inclined surface with a large angle of about 30°.

[0052] The negative pressure suction assembly 2 is installed in the closed installation chamber formed by the sealed housing 5 and the main body 1 and is set through the bottom of the main body 1. It is preferably close to the center of mass of the overall device composed of the walking device and other matching components. This reduces the rotational force of the walking device, enables the walking device to turn on steep slopes without slipping, and improves the operating range of the walking device. The negative pressure suction cup is movably connected to the limiting sleeve 203 via the exhaust sleeve 202, allowing the negative pressure suction cup to freely extend and retract relative to the main body 1. Even if there are protruding structures on the working area at the bottom of the main body 1, the negative pressure suction cup can adapt to uneven curved surfaces and has a certain obstacle-crossing ability.

[0053] According to an embodiment of the present invention, on the other hand, Figure 9As shown, a cleaning device is also provided. The cleaning device can be any cleaning device that can move freely, such as a sweeping robot, a floor scrubber robot, a photovoltaic panel cleaning robot, etc. The cleaning device has a walking device as described in the utility model. A cleaning component is installed on the main body 1 of the walking device. The cleaning component can be a cleaning scraper module 7 or a roller brush cleaning module 8. In this embodiment, the roller brush cleaning module 8 is installed at the front end of the walking device, and the cleaning scraper module 7 is installed at the rear end.

[0054] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A walking device, characterized in that: include: A body (1) on which a motion mechanism (4) is mounted; A negative pressure adsorption component (2) is provided with an adsorption member (201) at its bottom, an air extraction sleeve (202) is connected to the adsorption member (201), the adsorption member (201) and the air extraction sleeve (202) are rotatably matched, a limiting sleeve (203) is movably mounted on the outside of the air extraction sleeve (202), and the limiting sleeve (203) is fixedly connected to the body (1); A negative pressure suction component (3) is in communication with the suction sleeve (202), and the negative pressure suction component (3) is suitable for drawing negative pressure from the adsorption element (201).

2. The walking device according to claim 1, characterized in that: A connecting piece (204) is fixedly mounted on one end of the exhaust sleeve (202) connected to the adsorption piece (201), and the adsorption piece (201) is rotatably mounted on one end of the connecting piece (204) away from the exhaust sleeve (202). A through hole (209) is provided on the connecting piece (204), and the through hole (209) connects the exhaust sleeve (202) with the adsorption piece (201).

3. The walking device according to claim 2, characterized in that: One end of the connecting member (204) that cooperates with the adsorption member (201) is provided with a connecting block (205), the through hole (209) passes through the connecting block (205), and the adsorption member (201) is provided with a connecting groove, and the connecting block (205) is connected to the connecting groove in cooperation.

4. The walking device according to any one of claims 1 to 3, characterized in that: The negative pressure exhaust assembly (3) comprises a vacuum pump (301) and a reversing valve (302); a first valve port (3021) of the reversing valve (302) is connected to the vacuum pump (301) via a first exhaust pipeline (303); and a second valve port (3022) of the reversing valve (302) is connected to the exhaust sleeve (202) via a second exhaust pipeline (304).

5. The walking device according to claim 4, characterized in that: The second air extraction pipeline (304) is a flexible hose.

6. The walking device according to any one of claims 1 to 3, characterized in that: It also includes a sealed shell (5), wherein the sealed shell (5) and the body (1) enclose a mounting chamber, and the negative pressure adsorption component (2) is mounted in the mounting chamber.

7. The traveling device according to claim 6, characterized in that: It also includes a negative pressure base (6) fixedly mounted on the body (1), the negative pressure base (6) being sealedly connected to the sealed housing (5), and the negative pressure adsorption component (2) being arranged through the negative pressure base (6).

8. The traveling device according to claim 6, characterized in that: A suction cup load-bearing member (206) is fixedly installed in the installation chamber, and the limiting sleeve (203) is fixedly connected to the suction cup load-bearing member (206).

9. The walking device according to any one of claims 1 to 3, characterized in that: A compression elastic member (207) is installed between the adsorption member (201) and the limiting sleeve (203), and the compression elastic member (207) is in a compressed state to apply pre-pressure to the adsorption member (201).

10. A cleaning device, characterized in that: A running device according to any one of claims 1 to 9, wherein a cleaning component is installed on a body (1) of the running device.

Images