Turnover type cleaning device and wall-climbing robot

Abstract

The utility model discloses an overturning type cleaning device and a wall-climbing robot, the overturning type cleaning device comprises a base, an overturning mechanism and a cleaning part, a first trigger switch and a second trigger switch are arranged on the base, a driving unit of the overturning mechanism drives an overturning shaft to rotate in the first direction, and the first trigger switch can be triggered to close the driving unit; the driving unit drives the overturning shaft to rotate in the second direction so that the second trigger switch can be triggered to close the driving unit. In the embodiment, when the driving unit drives the overturning shaft in the first direction so that the connecting arm and the cleaning part can get close to the boiler pipeline, the connecting arm can trigger the first trigger switch after the cleaning part moves in place so as to close the driving unit to prevent the driving unit from being damaged, and in this way, the wall-climbing robot can overturn the cleaning part to avoid a slope; and after the wall-climbing robot runs to the slope, the cleaning part is precisely reset to the initial position so as to clean the surface of the slope.

Description

Technical Field

[0001] This application relates to the field of wall-climbing robot technology, and more particularly to a flip-type cleaning device and a wall-climbing robot. Background Technology

[0002] During use, wind turbine towers may be corroded, leading to a reduction in wall thickness. Currently, wall-climbing robots are commonly used to clean the side walls of wind turbine towers.

[0003] In related technologies, the cleaning devices mounted on wall-climbing robots can only spray cleaning fluid onto boiler pipes at a fixed angle and cannot avoid slopes. Utility Model Content

[0004] To overcome the problems existing in related technologies, this application provides a flip-type cleaning device and a wall-climbing robot.

[0005] According to a first aspect of the embodiments of this application, a flip-type cleaning device is provided, applied to a wall-climbing robot, the flip-type cleaning device comprising:

[0006] A base for connecting to the main body of the wall-climbing robot, and a first trigger switch and a second trigger switch are provided on the base;

[0007] A flipping mechanism is disposed on the base. The flipping mechanism includes a drive unit, a connected flipping shaft and a connecting arm. The drive unit is throttle-connected to the flipping shaft and is configured to drive the connecting arm to flip around the flipping shaft.

[0008] The cleaning section is connected to the connecting arm;

[0009] When the drive unit drives the flip shaft to rotate a preset angle along the first direction, the connecting arm is configured to trigger the first trigger switch to turn off the drive unit;

[0010] A cam is provided at one end of the flip shaft. When the drive unit drives the flip shaft to rotate a preset angle in a second direction, the cam is configured to trigger the second trigger switch to turn off the drive unit. The second direction is opposite to the first direction.

[0011] In some embodiments, the first trigger switch includes a first reset member, which is used to reset the first trigger switch to a non-triggered state when the connecting arm is separated from the first trigger switch; and / or,

[0012] The second trigger switch includes a second reset member, which is used to reset the second trigger switch to an untriggered state when the cam is separated from the second trigger switch.

[0013] In some embodiments, the first trigger switch is also electrically connected to the cleaning unit, and the connecting arm is also configured to trigger the first trigger switch to shut down the drive unit and start the cleaning unit.

[0014] In some embodiments, the connecting arm includes:

[0015] A connecting rod, the first end of which is connected to the flipping shaft;

[0016] An adapter is provided, one end of which is connected to the connecting rod, and the other end of which is connected to the cleaning section; wherein the adapter is configured to move relative to the connecting rod along the extension direction of the connecting rod to adjust the distance between the adapter and the flip shaft.

[0017] In some embodiments, the connecting rod and the adapter are detachable, wherein the connecting rod is provided with a plurality of first mounting holes, and the adapter is provided with a plurality of second mounting holes. The plurality of first mounting holes and the plurality of second mounting holes are arranged along the extension direction of the connecting rod, and at least two of the first mounting holes and at least two of the second mounting holes are directly opposite each other. A first fastener is provided in the directly opposite first mounting holes and second mounting holes.

[0018] In some embodiments, the cleaning unit includes:

[0019] The mounting bracket is rotatably connected to the adapter, with its rotation axis parallel to the axis of the flipping shaft; wherein the mounting bracket defines a cleaning space, and the mounting bracket can rotate relative to the adapter to adjust the opening orientation of the cleaning space;

[0020] Multiple nozzles are connected to the mounting bracket and disposed on the top wall of the cleaning space, and the spraying direction of the nozzles is consistent with the opening direction of the cleaning space.

[0021] In some embodiments, the mounting bracket includes the top wall and a plurality of perimeter structures disposed around the edge of the top wall, the top wall and the plurality of perimeter structures enclosing the cleaning space;

[0022] Multiple nozzles are disposed on the top wall.

[0023] In some embodiments, the cleaning section further includes bristles disposed on the side of the perimeter structure away from the top wall.

[0024] According to a second aspect of this application, a wall-climbing robot is provided, including a robot body and a flip-type cleaning device as described in the first aspect.

[0025] In some embodiments, the base of the flip-type cleaning device is detachably connected to the top surface of the shell of the robot body.

[0026] The technical solutions provided by the embodiments of this application may include the following beneficial effects: the drive unit drives the flipping shaft in the first direction so that when the connecting arm and the cleaning part are close to the boiler pipe, the connecting arm can trigger the first trigger switch to shut down the drive unit after the cleaning part moves into position, so as to avoid damage to the drive unit; when the drive unit drives the flipping shaft in the opposite direction of the first direction, the cam set at one end of the flipping shaft can trigger the second trigger switch to shut down the drive unit, thereby protecting the drive unit. This setting can enable the wall-climbing robot to flip the cleaning part to avoid the slope, and after the wall-climbing robot runs on the slope, the cleaning part is accurately reset to the initial position to clean the slope surface.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0029] Figure 1 A partial schematic diagram of a wall-climbing robot according to an embodiment of this application is shown;

[0030] Figure 2 A schematic diagram of a flip-type cleaning device according to an embodiment of this application is shown;

[0031] Figure 3 A partial schematic diagram of a tilting cleaning device according to an embodiment of this application is shown;

[0032] Figure 4 A partial schematic diagram of a flip-type cleaning device provided in one embodiment of this application is shown.

[0033] In the picture:

[0034] 100. Tilting-type cleaning device;

[0035] 10. Base; 10a. First substrate; 10b. Second substrate; 11. First trigger switch; 12. Second trigger switch; 13. Protrusion;

[0036] 20. Tilting mechanism;

[0037] 21. Drive unit; 211. Servo motor; 212. Reducer; 213. First gear;

[0038] 22. Connecting arm; 221. Cam; 222. Limiting part; 222a. First limiting part; 222b. Second limiting part; 223. Second gear;

[0039] 23. Flip shaft; 231. Connecting rod; 2311. First mounting hole; 232. Adapter; 2321. Second mounting hole; 2322. Arc groove;

[0040] 30. Cleaning section; 30a. Cleaning space; 31. Mounting frame; 311. Top wall; 312. Surrounding structure; 313. Second fastener; 314. Mounting shaft; 32. Nozzle; 33. Brush bristles;

[0041] 200. Shell. Detailed Implementation

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0043] To address the problems existing in related technologies, this application provides a flip-type cleaning device and a wall-climbing robot. The flip-type cleaning device includes a base, a flipping mechanism, and a cleaning section. A first trigger switch and a second trigger switch are provided on the base. When the drive unit of the flipping mechanism drives the flipping shaft to rotate a preset angle in a first direction, the connecting arm can trigger the first trigger switch to shut down the drive unit. When the drive unit drives the flipping shaft to rotate a preset angle in a second direction, a cam located at one end of the flipping shaft can trigger the second trigger switch to shut down the drive unit. The first direction and the second direction are opposite. In this embodiment, when the drive unit drives the flipping shaft in the first direction so that the connecting arm and the cleaning section are close to the boiler pipe, the connecting arm can trigger the first trigger switch to shut down the drive unit after the cleaning section has moved into position, preventing damage to the drive unit. When the drive unit drives the flipping shaft in the opposite direction of the first direction, the cam located at one end of the flipping shaft can trigger the second trigger switch to shut down the drive unit, thereby protecting the drive unit. This configuration allows the wall-climbing robot to flip the cleaning section to avoid slopes. After the wall-climbing robot reaches the slope, the cleaning section is precisely reset to its initial position to clean the slope surface.

[0044] According to an exemplary embodiment of this application, such as Figure 1As shown, this embodiment provides a flip-type cleaning device 100, which is applied to a wall-climbing robot. The wall-climbing robot is a device that can climb and walk on boiler pipes (wind turbine towers, boiler water-cooled walls, etc.) by means of suspension and magnetic adsorption. The wall-climbing robot can carry the flip-type cleaning device 100 to clean the surface of the boiler pipes, so as to facilitate the quality inspection and maintenance of the boiler pipes and maintain the working environment inside the boiler.

[0045] like Figure 1 and Figure 2 As shown, the tilting cleaning device 100 includes a base 10 for connection to the robot body of the wall-climbing robot. In one example, see [reference needed]. Figure 1 and Figure 2 The base 10 includes a first substrate 10a and a second substrate 10b. The first substrate 10a and the second substrate 10b are arranged in an L-shape. In the assembled state, the first substrate 10a is attached to the top surface of the shell 200 of the robot body, and the second substrate 10b is attached to the side of the robot body. Both the first substrate 10a and the second substrate 10b are provided with through holes for mounting fasteners (such as bolts). The second substrate 10b can limit the base 10 when the wall-climbing robot is in the climbing state, so as to improve the connection reliability between the base 10 and the robot body.

[0046] like Figure 2 As shown, the flip-type cleaning device 100 also includes a flipping mechanism 20 and a cleaning section 30. The flipping mechanism 20 is installed on the base 10 and connected to the cleaning section 30. The flipping mechanism 20 is used to drive the cleaning section 30 to flip relative to the base 10, that is, to drive the cleaning section 30 to flip relative to the robot body, thereby adjusting the distance between the cleaning section 30 and the boiler pipe and the orientation of the cleaning section 30.

[0047] See Figure 2 The flipping mechanism 20 includes a drive unit 21, a flipping shaft 22, and a connecting arm 23. The flipping shaft 22 is connected to the connecting arm 23, and the drive unit 21 is connected to the flipping shaft 22 in a transmission manner. The drive unit 21 can drive the flipping shaft 22 to rotate, thereby causing the connecting arm 23 to swing, and thus causing the cleaning part 30 to flip.

[0048] Among them, the drive unit 21 is, for example, a servo motor 211, and the output shaft of the servo motor 211 can be directly or indirectly connected to the tilting shaft 22. For example, see [reference needed]. Figure 2The drive unit 21 also includes a reducer 212. The servo motor 211 transmits power to the first gear 213 through the reducer 212. A second gear 223 is sleeved on the tilting shaft 22, and the first gear 213 meshes with the second gear 223. In an optional embodiment (not shown in the figures), the servo motor 211 can drive the tilting shaft 22 to rotate through a worm gear and worm transmission mechanism, which will not be described in detail here.

[0049] like Figure 2 As shown, a first trigger switch 11 and a second trigger switch 12 are provided on the base 10. Both the first trigger switch 11 and the second trigger switch 12 are electrically connected to the drive unit 21. When the drive unit 21 drives the flipping shaft 22 to rotate a preset angle in the first direction, the flipping shaft 22 can drive the connecting arm 23 to swing and trigger the first trigger switch 11 to shut down the drive unit 21. That is, the drive unit 21 is shut down in time when the cleaning section 30 is flipped into place to avoid damage to the drive unit 21 and the cleaning section 30. (Continue reading) Figure 2 Along the axial direction of the flip shaft 22, a cam 221 is provided at one end of the flip shaft 22. When the drive unit 21 drives the flip shaft 22 to rotate a preset angle in the opposite direction of the first direction a (i.e. the second direction b), the cam 221 can trigger the second trigger switch 12 to turn off the drive unit 21.

[0050] In one example, see Figure 2 and Figure 3 When the flipping mechanism 20 moves the cleaning part 30 closer to the boiler pipe, it can trigger the first trigger switch 11. When the flipping mechanism 20 moves the cleaning part 30 away from the boiler pipe, it can trigger the second trigger switch 12. It can be understood that when the flipping mechanism 20 moves the cleaning part 30 closer to the boiler pipe, the angle between the connecting arm 23 of the flipping mechanism 20 and the base 10 gradually decreases. Therefore, the first trigger switch 11 can be set between the top surface of the base 10 and the connecting arm 23 for easy assembly and later maintenance.

[0051] In this embodiment, the drive unit drives the flipping shaft along the first direction so that when the connecting arm and the cleaning part are close to the boiler pipe, the connecting arm can trigger the first trigger switch to shut down the drive unit after the cleaning part moves into position, thus preventing damage to the drive unit. When the drive unit drives the flipping shaft in the opposite direction of the first direction, the cam set at one end of the flipping shaft can trigger the second trigger switch to shut down the drive unit, thereby protecting the drive unit. This setting can enable the wall-climbing robot to flip the cleaning part to avoid the slope. After the wall-climbing robot runs to the slope, the cleaning part is accurately reset to the initial position to clean the slope surface.

[0052] In one exemplary embodiment, such as Figure 1 and Figure 2As shown, this application provides a flip-type cleaning device 100, which includes a base 10, a flipping mechanism 20, and a cleaning section 30. The base 10 is provided with a first trigger switch 11 and a second trigger switch 12. When the drive unit 21 of the flipping mechanism 20 drives the flipping shaft 22 to rotate a preset angle in a first direction, the connecting arm 23 can trigger the first trigger switch 11 to turn off the drive unit 21. When the drive unit 21 drives the flipping shaft 22 to rotate a preset angle in a second direction, the cam 221 provided at one end of the flipping shaft 22 can trigger the second trigger switch 12 to turn off the drive unit 21. The first direction is opposite to the second direction.

[0053] Among them, such as Figure 2 and Figure 3 As shown, the first trigger switch 11 and the second trigger switch 12 are push-button switches.

[0054] See Figure 2 The first trigger switch 11 includes a first reset member. When the connecting arm 23 contacts and triggers the first trigger switch 11, the first reset member is in a shaped state (e.g., compressed, bent). When the connecting arm 23 separates from the first trigger switch 11, the first reset member, based on deformation restoring force, returns the first trigger switch 11 to the untriggered state. The first trigger switch 11 may be, for example, an elastic metal sheet or a spring. See also... Figure 2 The second trigger switch 12 includes a second reset element. The reset method and principle of the second reset element are the same as those of the first reset element, and will not be described again.

[0055] Among them, such as Figure 2 As shown, the first trigger switch 11 is also electrically connected to the cleaning section 30. When the connecting arm 23 triggers the first trigger switch 11, the first trigger switch 11 can not only control the drive unit 21 to shut down, but also control the cleaning section 30 to start cleaning. In this embodiment, when the flipping mechanism 20 triggers the first trigger switch 11, it indicates that the cleaning section 30 has moved into position. By setting the first trigger switch 11 to be electrically connected to the cleaning section 30, the control process of the flipping cleaning device 100 is simplified and the stability is improved.

[0056] Among them, such as Figure 2 As shown, a protrusion 13 is provided on one side (top surface) of the base 10 where the rotating shaft 22 is mounted, and a limiting part 222 is provided on the outer peripheral surface of the rotating shaft 22. The limiting part can cooperate with the protrusion 13 to limit the rotation angle of the rotating shaft 22. (See reference...) Figure 2The first limiting part 222a and the second limiting part 222b are disposed at different positions along the axial direction of the flipping shaft 22. One of the first limiting parts 222a and the second limiting part 222b can limit the flipping shaft 22 when the flipping mechanism 20 triggers the first trigger switch 11, to prevent the flipping shaft 22 and the connecting arm 23 from continuing to rotate due to inertia and causing damage to the first trigger switch 11. The other of the first limiting parts 222a and the second limiting part 222b can limit the flipping shaft 22 when the flipping mechanism 20 triggers the second trigger switch 12, to prevent the flipping shaft 22 and the connecting arm 23 from continuing to rotate due to inertia and causing damage to the second trigger switch 12.

[0057] In some embodiments, see Figure 2 The first limiting part 222a and the second limiting part 222b are both L-shaped and the included angle of the L-shape faces the flip shaft 22. The L-shaped structure has a larger contact area with the outer peripheral surface of the flip shaft 22, which is conducive to improving installation reliability and convenient installation.

[0058] In one exemplary embodiment, such as Figure 1 and Figure 2 As shown, this application provides a flip-type cleaning device 100 and a wall-climbing robot. The flip-type cleaning device 100 includes a base 10, a flipping mechanism 20, and a cleaning section 30. A first trigger switch 11 and a second trigger switch 12 are provided on the base 10. When the drive unit 21 of the flipping mechanism 20 drives the flipping shaft 22 to rotate a preset angle in a first direction, the connecting arm 23 can trigger the first trigger switch 11 to turn off the drive unit 21. When the drive unit 21 drives the flipping shaft 22 to rotate a preset angle in a second direction, the cam 221 provided at one end of the flipping shaft 22 can trigger the second trigger switch 12 to turn off the drive unit 21. The first direction is opposite to the second direction.

[0059] The flip-type cleaning device 100 provided in this embodiment may include various structures and components of the flip-type cleaning device 100 provided in any of the above embodiments.

[0060] Among them, such as Figure 1 As shown, the connecting arm 23 includes a connecting rod 231 and an adapter 232. The connecting rod 231 connects the adapter 232 to the tilting shaft 22, and the adapter 232 connects the cleaning unit 30 to the connecting rod 231. (See reference...) Figure 1 and Figure 4The adapter 232 is movably connected to the connecting rod 231, and the adapter 232 is configured to move closer to or further away from the flip shaft 22 along the extension direction of the connecting rod 231. The position of the cleaning section 30 can be adjusted by adjusting the distance between the adapter 232 and the flip shaft 22, so that when the flip cleaning device 100 is set at different heights of the robot body, the connecting rod 231 of the connecting arm 23 can rotate by the same angle to trigger the first trigger switch 11 and adjust the cleaning section 30 to a suitable cleaning position. The suitable cleaning position is, for example, having a suitable distance between the cleaning section 30 and the boiler pipe, avoiding contact between the rigid housing (mounting bracket 31) of the cleaning section 30 and the boiler pipe, and avoiding contact between the flexible bristles 33 of the cleaning section 30 and the boiler pipe.

[0061] In some embodiments, such as Figure 1 and Figure 4 As shown, the connecting rod 231 and the adapter 232 are detachable. The connecting rod 231 is provided with a plurality of first mounting holes 2311, and the adapter 232 is provided with a plurality of second mounting holes 2321. The plurality of first mounting holes 2311 and the plurality of second mounting holes 2321 are arranged along the extension direction of the connecting rod 231, and at least two first mounting holes 2311 and at least two second mounting holes 2321 are directly opposite each other. A first fastener is provided in the directly opposite first mounting holes 2311 and second mounting holes 2321.

[0062] In other embodiments (not shown in the figures), one of the connectors and adapters is provided with a groove, and the other is provided with a slider, the groove extending along the extension direction of the connecting rod, the slider being slidably disposed within the groove.

[0063] Among them, such as Figure 4 As shown, the cleaning unit 30 includes a mounting bracket 31 and a plurality of nozzles 32 disposed on the mounting bracket 31. The mounting bracket 31 is rotatably connected to the connecting arm 23, and the direction of rotation is parallel to the axial direction of the flipping shaft 22. For example, see [reference needed]. Figure 1 and Figure 4Along the axial direction of the flipping shaft 22, the mounting bracket 31 has mounting shafts 314 and second fasteners 313 (such as bolts) protruding from the side wall of the mounting bracket 31 on both sides. The connecting arm 23 has mounting holes and arc grooves 2322 penetrating through the connecting arm 23 on both sides. The center of the arc groove 2322 coincides with the mounting hole. In the assembled state, the mounting shaft 314 is placed in the mounting hole, and the second fastener 313 penetrates the arc groove 2322. The head of the second fastener 313 is placed on the side of the arc groove 2322 away from the mounting bracket 31. By tightening the second fastener 313, the second fastener 313 can lock the mounting bracket 31 and the connecting arm 23 to prevent relative movement between the mounting bracket 31 and the connecting arm 23. Understandably, the position of the second fastener 313 in the arc groove 2322 can be adjusted according to the height of the wall-climbing robot to adjust the mounting bracket 31 and the connecting arm 23 to have different installation angles, so that the flip-type cleaning device 100 can face the boiler pipe when installed on wall-climbing robots of different heights, ensuring that the flip-type cleaning device has extremely high cleaning quality when applied to different wall-climbing robots.

[0064] Continue reading Figure 4 The mounting bracket 31 defines a cleaning space 30a, the bottom of which has an opening. During cleaning, the bottom opening of the cleaning space 30a faces the boiler piping, and the nozzle 32 sprays cleaning fluid towards the bottom opening to clean the boiler piping. For example, see [reference needed]. Figure 4 The cleaning space 30a includes a top wall 311 and a plurality of surrounding structures 312 arranged around the top wall 311. The nozzle 32 is disposed on the top wall 311 and is configured to open towards the bottom of the cleaning space 30a. The plurality of surrounding structures 312 can block the cleaning liquid from splashing after it washes the boiler pipes, and prevent dust on the boiler pipes from being washed away by the cleaning liquid and scattered.

[0065] Among them, such as Figure 1 and Figure 4 As shown, the side of the mounting bracket 31's perimeter structure 312 away from the top wall 311 is provided with bristles 33. The bristles 33 can sweep or scrape away dust and rust from the surface of the boiler pipes, so that the cleaning fluid can directly rinse the boiler pipes, which helps to improve the cleaning quality.

[0066] According to an exemplary embodiment of this disclosure, such as Figure 1 As shown, this embodiment provides a wall-climbing robot, which includes a robot body and a flip-type cleaning device 100. The flip-type cleaning device 100 is detachably disposed on the top surface of the robot's shell. The flip-type cleaning device 100 provided in this embodiment can have the same technical features as any of the foregoing embodiments, thus the wall-climbing robot provided in this embodiment has all the technical effects of the flip-type cleaning device 100 provided in any of the foregoing embodiments, which will not be repeated here.

[0067] Other embodiments of this application will readily conceive of by those skilled in the art upon consideration of the specification and practice of the technical means applied herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means in the art not claimed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0068] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An inverted cleaning apparatus, characterized by, The flip-type cleaning device, applied to wall-climbing robots, includes: A base for connecting to the main body of the wall-climbing robot, and a first trigger switch and a second trigger switch are provided on the base; A flipping mechanism is disposed on the base. The flipping mechanism includes a drive unit, a connected flipping shaft and a connecting arm. The drive unit is throttle-connected to the flipping shaft and is configured to drive the connecting arm to flip around the flipping shaft. The cleaning section is connected to the connecting arm; When the drive unit drives the flip shaft to rotate a preset angle along the first direction, the connecting arm is configured to trigger the first trigger switch to turn off the drive unit; A cam is provided at one end of the flip shaft. When the drive unit drives the flip shaft to rotate a preset angle in a second direction, the cam is configured to trigger the second trigger switch to turn off the drive unit. The second direction is opposite to the first direction.

2. The inverted cleaning apparatus of claim 1, wherein, The first trigger switch includes a first reset element, which is used to reset the first trigger switch to a non-triggered state when the connecting arm is separated from the first trigger switch; and / or, The second trigger switch includes a second reset member, which is used to reset the second trigger switch to an untriggered state when the cam is separated from the second trigger switch.

3. The flip cleaning device according to claim 1 or 2, characterized in that The first trigger switch is also electrically connected to the cleaning unit, and the connecting arm is also configured to trigger the first trigger switch to shut down the drive unit and start the cleaning unit.

4. The inverted cleaning apparatus of claim 1, wherein, The connecting arm includes: A connecting rod, the first end of which is connected to the flipping shaft; An adapter is provided, one end of which is connected to the connecting rod, and the other end of which is connected to the cleaning section; wherein the adapter is configured to move relative to the connecting rod along the extension direction of the connecting rod to adjust the distance between the adapter and the flip shaft.

5. The inverted cleaning apparatus of claim 4, wherein, The connecting rod and the adapter are detachable. The connecting rod is provided with a plurality of first mounting holes, and the adapter is provided with a plurality of second mounting holes. The plurality of first mounting holes and the plurality of second mounting holes are arranged along the extension direction of the connecting rod, and at least two of the first mounting holes and at least two of the second mounting holes are directly opposite each other. A first fastener is provided in the directly opposite first mounting holes and second mounting holes.

6. The inverted cleaning apparatus of claim 4, wherein, The cleaning unit includes: The mounting bracket is rotatably connected to the adapter, with its rotation axis parallel to the axis of the flipping shaft; wherein the mounting bracket defines a cleaning space, and the mounting bracket can rotate relative to the adapter to adjust the opening orientation of the cleaning space; Multiple nozzles are connected to the mounting bracket and disposed on the top wall of the cleaning space, and the spraying direction of the nozzles is consistent with the opening direction of the cleaning space.

7. The inverted cleaning apparatus of claim 6, wherein, The mounting frame includes the top wall and a plurality of perimeter structures arranged around the edge of the top wall, the top wall and the plurality of perimeter structures enclosing the cleaning space; Multiple nozzles are disposed on the top wall.

8. The inverted cleaning apparatus of claim 7, wherein, The cleaning section also includes brush bristles disposed on the side of the perimeter structure away from the top wall.

9. A wall-climbing robot, characterized by The robot body and the turnover cleaning device as claimed in any one of claims 1-8 are included.

10. The wall-climbing robot according to claim 9, characterized in that, The base of the turnover cleaning device is detachably connected with the top surface of the shell of the robot body.

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