Cleaning robot

Abstract

The utility model relates to robot technical field discloses a kind of cleaning robots, and cleaning robot includes wall-climbing robot and cleaning module: cleaning module is connected to wall-climbing robot;Cleaning module is equipped with negative pressure cavity, and negative pressure cavity has the open cavity mouth towards bottom;And cleaning module includes cleaning assembly and recovery pipe, and cleaning assembly is used to spray cleaning agent in negative pressure cavity;One end of recovery pipe is communicated negative pressure cavity, and the other end is used to connect the suction device that can make negative pressure in negative pressure cavity, so that the dirty liquid after cleaning can be recycled.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a cleaning robot. Background Technology

[0002] With the advancement of technology, the development of robots is becoming increasingly rapid. Robots can replace humans in performing some dangerous high-altitude operations, reducing safety hazards. For high-altitude walls, such as ship facades, tank walls, photovoltaic curtain walls, glass walls, etc., robots can be used for cleaning.

[0003] Currently, robots typically only have cleaning functions, and the wastewater left after cleaning can easily affect the cleaning effect, failing to meet user needs. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a cleaning robot capable of recycling wastewater after cleaning.

[0005] The cleaning robot according to an embodiment of the present invention includes a wall-climbing robot and a cleaning module: the cleaning module is connected to the wall-climbing robot; the cleaning module is provided with a negative pressure chamber, the negative pressure chamber having an opening facing the bottom; and the cleaning module includes a cleaning component and a recovery pipe, the cleaning component being used to spray cleaning agent into the negative pressure chamber; one end of the recovery pipe is connected to the negative pressure chamber, and the other end is used to connect to a suction device that can generate negative pressure in the negative pressure chamber.

[0006] The cleaning robot according to the embodiments of this utility model has at least the following beneficial effects: By setting a negative pressure chamber in the cleaning module, with an open port at the bottom of the negative pressure chamber, the cleaning components of the cleaning module can spray cleaning agent into the negative pressure chamber, thereby cleaning the working wall surface; by setting one end of the recovery pipe to connect to the negative pressure chamber and the other end to connect to a suction device that can generate negative pressure in the negative pressure chamber, when the recovery pipe is connected to the suction device, the suction device can suck the gas in the negative pressure chamber through the recovery pipe, so that a negative pressure state is formed in the negative pressure chamber, which helps the cleaning module to adhere to the working wall surface through the port, improving the stability of the cleaning robot moving on the working wall surface; in addition, the suction module can also extract dirty liquid and other impurities in the negative pressure chamber through the recovery pipe, reducing environmental pollution and helping to improve the cleaning effect of the cleaning robot.

[0007] According to some embodiments of the present invention, the cleaning module further includes a cleaning tray; the cleaning tray is connected to the wall-climbing robot and is provided with a negative pressure chamber, the opening of which is located at the bottom of the cleaning tray; the cleaning components and the recycling pipe are both connected to the cleaning tray.

[0008] According to some embodiments of the present invention, the cleaning module further includes a cleaning brush, which is arranged in a ring at the bottom of the cleaning tray and around the cavity opening; the cleaning brush includes a plurality of bristles, and the surface of each bristle is covered with a flexible layer for contacting the working wall surface to seal the gap between the bottom of the cleaning tray and the working wall surface.

[0009] According to some embodiments of the present invention, the cleaning robot further includes at least one omnidirectional wheel, which is connected to the cleaning disc; along the direction from the top to the bottom of the wall-climbing robot, the bottom of the omnidirectional wheel is lower than the bottom of the cleaning disc and higher than the bottom of the cleaning brush.

[0010] According to some embodiments of the present invention, the cleaning robot further includes a swing arm mechanism and a drive component. The cleaning module is connected to the wall-climbing robot through the swing arm mechanism. The drive component is installed on the wall-climbing robot, and the swing arm mechanism is connected to the drive end of the drive component. The drive component is used to drive the swing arm mechanism to rotate around a first axis, thereby driving the cleaning module to rotate around the first axis. The first axis is set along the direction from the top to the bottom of the wall-climbing robot.

[0011] According to some embodiments of the present invention, the swing arm mechanism includes a first support rod and a second support rod. The axis of the first support rod is set at an angle to the first axis. One end of the first support rod is connected to the driving end of the driving member, and the other end is connected to the second support rod. The axis of the second support rod is set at an angle to the axis of the first support rod, and the cleaning module is connected to the second support rod. The driving member is used to drive the first support rod to rotate around the first axis, and drives the cleaning module to rotate around the first axis through the second support rod.

[0012] According to some embodiments of the present invention, the second support rod is rotatably connected to the first support rod via a first pivot about a second axis; the second axis is perpendicular to the first axis, and the second axis is perpendicular to the axis of the first support rod.

[0013] According to some embodiments of the present invention, the swing arm mechanism further includes a connecting rod, one end of which is rotatably connected to the first support rod via a second rotating shaft, and the other end of which is rotatably connected to the second support rod via a third rotating shaft; the axes of the first rotating shaft, the second rotating shaft, and the third rotating shaft are parallel; the first support rod, the connecting rod, and the second support rod cooperate to define a triangular space.

[0014] According to some embodiments of the present invention, the cleaning assembly is provided with a flow channel, one end of which is connected to a negative pressure chamber, and the other end is used to connect to a liquid supply device that can provide cleaning agent.

[0015] According to some embodiments of the present invention, the cleaning assembly includes a liquid inlet assembly and a cleaning component. The liquid inlet assembly is connected to the cleaning tray and partially protrudes from the top of the cleaning tray. The cleaning component is rotatably connected to the liquid inlet assembly and is located within the negative pressure chamber. The liquid inlet assembly is provided with a liquid inlet channel for connecting to a liquid supply device, and the cleaning component is provided with at least one liquid outlet channel. The at least one liquid outlet channel is connected to the liquid inlet channel to form a flow channel. The liquid inlet channel is used to connect to the liquid supply device, and the liquid outlet channel is connected to the negative pressure chamber.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0018] Figure 1 A schematic diagram of the structure of the cleaning robot provided in an embodiment of the present invention is shown;

[0019] Figure 2 It shows Figure 1 A partial structural diagram of the cleaning robot;

[0020] Figure 3 It shows Figure 2 Another structural diagram of the cleaning robot.

[0021] Figure label:

[0022] Cleaning robot 100; wall-climbing robot 110; drive module 111; drive mechanism 1111; roller 1113; cleaning module 130; cleaning assembly 131; liquid inlet assembly 1311; liquid inlet channel 1313; cleaning component 1315; liquid outlet channel 1317; recovery pipe 133; cleaning tray 135; negative pressure chamber 1351; chamber opening 1353; cleaning brush 137; caster wheel 150; swing arm mechanism 170; first support rod 171; second support rod 173; connecting rod 175; drive component 190; first axis M; second axis N. Detailed Implementation

[0023] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0024] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0026] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0027] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0028] Please see Figures 1 to 3 This application provides a cleaning robot 100, which can be used to clean working walls. The working walls can refer to the walls of photovoltaic curtain walls, building walls (such as glass walls), storage tank walls, ship walls, or other inclined walls.

[0029] The cleaning robot 100 includes a wall-climbing robot 110 and a cleaning module 130.

[0030] The cleaning module 130 is connected to the wall-climbing robot 110.

[0031] As an example, the cleaning module 130 can be connected to the front end of the wall-climbing robot 110 (i.e., the end of the wall-climbing robot 110 in the forward direction).

[0032] The cleaning module 130 is provided with a negative pressure chamber 1351 (e.g. Figure 3 As shown, the negative pressure chamber 1351 has an opening 1353 that opens towards the bottom, and the cleaning module 130 includes a cleaning component 131 for spraying cleaning agent into the negative pressure chamber 1351, thereby cleaning the working wall surface with the cleaning agent. The negative pressure chamber 1351 can also confine the dirty liquid after cleaning the working wall surface with the cleaning agent within the negative pressure chamber 1351 for easy subsequent processing.

[0033] Cleaning agents can refer to cleaning agents, rust removers, or other materials.

[0034] As an example, the cleaning agent can be a detergent that can clean dust, stains, etc. from the work surface.

[0035] As another example, the cleaning agent can be a rust remover, which can be used to react with the rust on the working surface to remove the rust.

[0036] The cleaning module 130 also includes a recovery pipe 133. One end of the recovery pipe 133 is connected to the negative pressure chamber 1351, and the other end is used to connect to a suction device that can generate negative pressure in the negative pressure chamber 1351. Thus, when the recovery pipe 133 is connected to the suction device, the suction device can suck the gas in the negative pressure chamber 1351 through the recovery pipe 133, so that a negative pressure state is formed in the negative pressure chamber 1351. This helps the cleaning module 130 to adhere to the working wall surface through the cavity 1353, improving the stability of the cleaning robot 100 moving on the working wall surface. In addition, the suction module can also extract dirty liquid and other impurities in the negative pressure chamber 1351 through the recovery pipe 133 to achieve recycling, reduce environmental pollution, and help improve the cleaning effect of the cleaning robot 100.

[0037] The suction device can refer to an external vacuum pump or other suction device. In some other embodiments, the suction device can also be integrated into the cleaning robot 100, that is, the cleaning robot 100 may include a suction device.

[0038] As an example, the suction device can be connected to the recovery pipe 133 through a pipe to extract gas, dirty liquid, etc. in the negative pressure chamber 1351 through the pipe and the recovery pipe 133, so that the negative pressure chamber 1351 forms a negative pressure state and the dirty liquid in the negative pressure chamber 1351 is recovered.

[0039] In some embodiments, the wall-climbing robot 110 may include two drive modules 111 and a connecting frame. The two drive modules 111 are respectively connected to opposite sides of the connecting frame, and the wall-climbing robot 110 can move through the two drive modules 111.

[0040] Each drive module 111 may include a drive mechanism 1111, a roller 1113, and an adsorption structure.

[0041] The drive mechanism 1111 can be used to drive the roller 1113 to rotate so that the wall-climbing robot 110 can move.

[0042] The drive module 111 can be connected to the connecting frame, or the drive module 111 can also include a mounting frame. The drive mechanism 1111, the roller 1113 and the adsorption structure can all be mounted on the mounting frame. The drive module 111 can be connected to the connecting frame through the mounting frame.

[0043] The drive mechanism 1111 may include a motor and a reducer. The motor may be mounted on a mounting bracket, the reducer may be connected to the motor, and the roller 1113 may be connected to the reducer. The motor can drive the roller 1113 to rotate through the reducer. The reducer can be used to increase the output torque of the motor.

[0044] The adsorption structure can be a permanent magnet adsorption structure, which helps to improve the stability of the adsorption structure and the working wall surface, and avoids the wall-climbing robot 110 falling due to external factors such as power failure. In other embodiments, the adsorption structure can also be a negative pressure adsorption structure, an electromagnetic adsorption structure, a permanent magnet adsorption structure, a biomimetic adsorption structure, or other adsorption structures.

[0045] In some embodiments, the cleaning module 130 may further include a cleaning tray 135, which may be connected to the wall-climbing robot 110.

[0046] The negative pressure chamber 1351 can be located on the cleaning tray 135, and the opening 1353 can be located at the bottom of the cleaning tray 135. The cleaning component 131 and the recovery pipe 133 can both be connected to the cleaning tray 135. Thus, the cleaning tray 135 can provide an installation position for the cleaning component 131 and the recovery pipe 133, and the cleaning tray 135 can be adsorbed onto the working wall surface through the opening 1353 when the negative pressure chamber 1351 is in a negative pressure state.

[0047] In some embodiments, the number of recycling tubes 133 can be one or more.

[0048] The cleaning module 130 may also include a connector, which may be provided with one or more first interfaces. The number of first interfaces may be equal to the number of recovery tubes 133. The connector may be installed on the top of the cleaning tray 135. Each first interface may be used to connect to one recovery tube 133, that is, one end of each recovery tube 133 may be connected to the cleaning tray 135 to communicate with the negative pressure chamber 1351, and the other end may be connected to the first interface.

[0049] The connector can also have a second interface, which can be used to connect a suction device. Each first interface can be connected to the second interface, so the suction device can sequentially extract gas, dirty liquid, etc. from the negative pressure chamber 1351 through the second interface, the first interface, and the recovery tube 133.

[0050] In some embodiments, the cleaning module 130 may further include a cleaning brush 137.

[0051] The cleaning brush 137 can be arranged in a ring at the bottom of the cleaning plate 135 and can be arranged around the cavity opening 1353. The cleaning brush 137 can be used to scrub the working wall surface. Specifically, the cleaning brush 137 can scrub the working wall surface as the cleaning module 130 moves, which helps to improve the cleaning effect of the cleaning module 130.

[0052] The cleaning brush 137 may include several bristles, which can be used to scrub the work surface.

[0053] Each bristle can be covered with a flexible layer to contact the working wall surface to seal the gap between the bottom of the cleaning disc 135 and the working wall surface, thereby enhancing the negative pressure effect of the negative pressure chamber 1351.

[0054] Specifically, each bristle can contact each other through the flexible layer to improve the sealing effect between the bristles. When the cleaning module 130 moves with the wall-climbing robot 110, each bristle can contact the working wall through the flexible layer to improve the sealing effect between the bottom of the cleaning disc 135 and the working wall. This reduces the amount of gas entering the negative pressure chamber 1351 through the gaps between the bristles and the gaps between the bristles and the working wall, which helps to ensure the negative pressure effect of the negative pressure chamber 1351.

[0055] The flexible layer can be made of rubber, silicone or other flexible materials to improve sealing performance.

[0056] In some embodiments, the cleaning robot 100 may also include at least one omnidirectional wheel 150.

[0057] At least one caster wheel 150 can be connected to the cleaning tray 135. Specifically, each caster wheel 150 can be connected to the cleaning tray 135. In this way, the caster wheels 150 can rotate at multiple angles on the working wall, which helps the wall-climbing robot 110 to move the cleaning module 130 more smoothly.

[0058] At least one caster wheel 150 can be one caster wheel 150, two caster wheels 150, three caster wheels 150 or other numbers of caster wheels 150, and the installation position of the caster wheels 150 on the cleaning disc 135 can be set according to requirements.

[0059] Along the top to bottom of the wall-climbing robot 110, the bottom of the omnidirectional wheel 150 can be lower than the bottom of the cleaning disc 135 and higher than the bottom of the cleaning brush 137. This helps to avoid the cleaning disc 135 directly contacting the working wall surface, which would result in excessive suction force. This helps to ensure the smooth movement of the cleaning robot 100 on the working wall surface. In addition, it can also reserve deformation space for the cleaning brush 137, which helps the cleaning brush 137 to better scrub the working wall surface.

[0060] In some embodiments, the cleaning robot 100 may further include a swing arm mechanism 170 and a drive unit 190.

[0061] The cleaning module 130 can be connected to the wall-climbing robot 110 via the swing arm mechanism 170.

[0062] The drive unit 190 can be installed on the wall-climbing robot 110. The swing arm mechanism 170 is connected to the drive end of the drive unit 190. The drive unit 190 can be used to drive the swing arm mechanism 170 to rotate around the first axis M, thereby driving the cleaning module 130 to rotate around the first axis M. The first axis M can be set along the direction from the top to the bottom of the wall-climbing robot 110. In this way, the drive unit 190 can drive the cleaning module 130 to rotate around the outer periphery of the wall-climbing robot 110 through the swing arm mechanism 170, so as to increase the cleaning area.

[0063] As an example, the drive unit 190 can be mounted on the connector and positioned between the two drive modules 111.

[0064] The drive unit 190 can be a servo motor, and the drive unit 190 can be set with a preset rotation angle as required. Thus, the drive unit 190 can drive the cleaning module 130 to swing back and forth at a preset angle through the swing arm mechanism 170.

[0065] As an example, the preset rotation angle of the drive unit 190 can be set to ±45 degrees, with the central axis of the wall-climbing robot 110 as a reference. The central axis can be set along the front-back direction of the wall-climbing robot 110, and the central axis is approximately located at the center between the left and right sides of the wall-climbing robot 110. The cleaning module 130 can have an initial position, a first swing position, and a second swing position. When the cleaning module 130 is in the initial position, the cleaning module 130 is approximately located on the central axis, and the rotation degree of the drive unit 190 can be set to 0 degrees. The drive module 111 can drive the swing arm mechanism 170 to rotate the cleaning module 130 45 degrees to the left of the wall-climbing robot 110 to swing to the first swing position, and can continue to drive the swing arm mechanism 170 to rotate the cleaning module 130 90 degrees from the first swing position to the right of the wall-climbing robot 110 to swing to the second swing position. The drive unit 190 can drive the swing arm mechanism 170 to swing the cleaning module 130 back and forth between the first swing position and the second swing position.

[0066] It should be noted that the preset rotation angle of the drive component 190 can also be set to other angles. The initial position, first swing position and second swing position of the cleaning module 130 can be set according to requirements. The above is only an example for understanding purposes.

[0067] In some embodiments, the swing arm mechanism 170 may include a first support rod 171 and a second support rod 173.

[0068] The axis of the first support rod 171 is set at an angle to the first axis M. One end of the first support rod 171 is connected to the driving end of the driving member 190, and the other end is connected to the second support rod 173. The axis of the second support rod 173 is set at an angle to the axis of the first support rod 171. The cleaning module 130 is connected to the second support rod 173. The driving member 190 can drive the first support rod 171 to rotate around the first axis M, and drive the cleaning module 130 to rotate around the first axis M through the second support rod 173. That is, the driving member 190 can drive the first support rod 171, the second support rod 173 and the cleaning module 130 to rotate synchronously around the first axis M.

[0069] As an example, a first support rod 171 may be spaced apart on the top of the wall-climbing robot 110, with its axis approximately perpendicular to the first axis M. The two ends of the first support rod 171 are connected to the drive end of the drive unit 190 and a second support rod 173, respectively. The axis of the second support rod 173 is approximately perpendicular to the axis of the first support rod 171, that is, its axis is approximately parallel to the first axis M. One end of the second support rod 173 can be connected to the first support rod 171, and the other end can be connected to the cleaning module 130.

[0070] In some embodiments, the cleaning robot 100 may further include a first clamping member, which may be connected to the drive end of the drive member 190 and may be used to clamp the first support rod 171.

[0071] In some embodiments, the first clamping member may include a first clamping block and a second clamping block. The first clamping block may be connected to the driving end of the driving member 190, and the second clamping block may be detachably installed on the first clamping block. The first clamping block has a first clamping groove, and the second clamping block may have a second clamping groove. When the second clamping block is installed on the first clamping block, the first and second clamping grooves cooperate to form a clamping hole, and the end of the first support rod 171 can be inserted into the clamping hole. The first clamping block and the second clamping block may be connected and fixed together by multiple fasteners, which may be bolts, screws, bolts, or other fasteners.

[0072] In some embodiments, the swing arm mechanism 170 may include a second clamping member, which may be connected to one of the first support rod 171 and the second support rod 173, and is used to clamp the other of the second support rod 173. The specific structure and clamping method of the second clamping member can refer to the first clamping member in the above embodiments, and will not be described again.

[0073] In some embodiments, the second support rod 173 can be rotatably connected to the first support rod 171 via a first pivot about a second axis N. The second axis N is perpendicular to the first axis M, and the second axis N is perpendicular to the axis of the first support rod 171. In this way, the second support rod 173 can swing up and down about the second axis N in a direction from the top to the bottom of the wall-climbing robot 110, which helps to improve the obstacle-crossing ability of the cleaning robot 100.

[0074] Understandably, the second axis N is roughly the axis of the second rotating shaft, and the second axis N is roughly set along the left and right direction of the wall-climbing robot 110.

[0075] As an example, the second clamping member can be rotatably connected to the first support rod 171 via a second pivot, and the second clamping member can be used to clamp the second support rod 173. The second pivot can be a bolt, stud, or other rotating structure.

[0076] In some embodiments, the swing arm mechanism 170 may further include a link 175.

[0077] One end of the connecting rod 175 is rotatably connected to the first support rod 171 via the second pivot, and the other end is rotatably connected to the second support rod 173 via the third pivot. The axes of the first pivot, the second pivot, and the third pivot are parallel. In this way, the connecting rod 175 can increase the connection strength between the first support rod 171 and the second support rod 173, and will not interfere with the up-and-down swing of the second support rod 173.

[0078] The first support rod 171, the connecting rod 175, and the second support rod 173 work together to define a triangular space, which helps to further increase the connection strength between the first support rod 171 and the second support rod 173, and also helps to improve the deformation of the first support rod 171 and the second support rod 173 under stress.

[0079] In some embodiments, the cleaning assembly 131 may be provided with a flow channel, one end of which is connected to the negative pressure chamber 1351, and the other end is used to connect to a liquid supply device that can provide cleaning agent, so that cleaning agent can be sprayed into the negative pressure chamber 1351.

[0080] As an example, the other end of the connection channel can be used to connect a pipe to a liquid supply device.

[0081] In some embodiments, the cleaning assembly 131 may include a liquid inlet assembly 1311 and a cleaning component 1315.

[0082] The liquid inlet assembly 1311 can be connected to the cleaning pan 135 and partially exposed on the top of the cleaning pan 135 so as to facilitate connection to the liquid supply device through a pipe.

[0083] The cleaning component 1315 is rotatably connected to the liquid inlet assembly 1311 and is located in the negative pressure chamber 1351.

[0084] The liquid inlet assembly 1311 is provided with a liquid inlet channel 1313 for connecting to the liquid supply device, and the cleaning component 1315 is provided with at least one liquid outlet channel 1317. At least one liquid outlet channel 1317 is connected to the liquid inlet channel 1313 to form a flow channel. The liquid inlet channel 1313 is used to connect to the liquid supply device, and the liquid outlet channel 1317 can be connected to the negative pressure chamber 1351. In this way, the cleaning agent provided by the liquid supply device can be sprayed into the negative pressure chamber 1351 in sequence through the liquid inlet channel 1313 and the liquid outlet channel 1317 to clean the working wall surface.

[0085] At least one liquid outlet channel 1317 may refer to one liquid outlet channel 1317, two liquid outlet channels 1317, three liquid outlet channels 1317, or other number of liquid outlet channels 1317.

[0086] Each liquid outlet channel 1317 may have at least one liquid outlet hole, which may be located on the outer wall surface of the cleaning component 1315. The position of the liquid outlet hole can be set according to requirements. For example, the liquid outlet hole may be located at the bottom of the cleaning component 1315 to directly spray the cleaning agent onto the working wall surface, thereby improving cleaning performance. Alternatively, the liquid outlet hole may be located on the side of the cleaning component 1315 to increase the spraying range.

[0087] It should be noted that when the cleaning component 1315 is spraying cleaning agent, the reaction force generated when the high-pressure cleaning agent is ejected can drive the cleaning component 1315 to rotate.

[0088] In the cleaning robot 100 provided in this application embodiment, a negative pressure chamber 1351 is provided in the cleaning module 130, and an open cavity 1353 is provided at the bottom of the negative pressure chamber 1351. The cleaning component 131 of the cleaning module 130 can spray cleaning agent into the negative pressure chamber 1351, thereby cleaning the working wall surface. By setting one end of the recovery pipe 133 to connect to the negative pressure chamber 1351 and the other end to connect to a suction device that can generate negative pressure in the negative pressure chamber 1351, the suction device is connected to the recovery pipe 133. In this situation, the suction device can draw gas from the negative pressure chamber 1351 through the recovery pipe 133, so that a negative pressure state is formed in the negative pressure chamber 1351. This helps the cleaning module 130 to adhere to the working wall surface through the cavity 1353, improving the stability of the cleaning robot 100 moving on the working wall surface. In addition, the suction module can also extract dirty liquid and other impurities from the negative pressure chamber 1351 through the recovery pipe 133, reducing environmental pollution and helping to improve the cleaning effect of the cleaning robot 100.

[0089] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A cleaning robot, characterized in that, include: Wall-climbing robot; as well as A cleaning module, which is connected to the wall-climbing robot; The cleaning module is provided with a negative pressure chamber, which has an opening facing the bottom; and the cleaning module includes a cleaning component and a recovery pipe. The cleaning component is used to spray cleaning agent into the negative pressure chamber; one end of the recovery pipe is connected to the negative pressure chamber, and the other end is used to connect to a suction device that can generate negative pressure in the negative pressure chamber.

2. The cleaning robot according to claim 1, characterized in that, The cleaning module also includes a cleaning tray; The cleaning tray is connected to the wall-climbing robot and is provided with the negative pressure chamber, the opening of which is located at the bottom of the cleaning tray; Both the cleaning assembly and the recovery tube are connected to the cleaning tray.

3. The cleaning robot according to claim 2, characterized in that, The cleaning module also includes a cleaning brush, which is arranged in a ring at the bottom of the cleaning disc and around the cavity opening; The cleaning brush includes a plurality of bristles, each bristle having a flexible layer on its surface for contacting the working wall to seal the gap between the bottom of the cleaning tray and the working wall.

4. The cleaning robot according to claim 3, characterized in that, The cleaning robot also includes at least one omnidirectional wheel, which is connected to the cleaning tray; Along the top to bottom direction of the wall-climbing robot, the bottom of the omnidirectional wheel is lower than the bottom of the cleaning disc and higher than the bottom of the cleaning brush.

5. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a swing arm mechanism and a drive unit, and the cleaning module is connected to the wall-climbing robot through the swing arm mechanism; The drive unit is mounted on the wall-climbing robot, and the swing arm mechanism is connected to the drive end of the drive unit; The driving component is used to drive the swing arm mechanism to rotate around the first axis, thereby driving the cleaning module to rotate around the first axis; The first axis is set along the direction from the top to the bottom of the wall-climbing robot.

6. The cleaning robot according to claim 5, characterized in that, The swing arm mechanism includes a first support rod and a second support rod. The axis of the first support rod is set at an angle to the first axis. One end of the first support rod is connected to the driving end of the driving member, and the other end is connected to the second support rod. The axis of the second support rod is set at an angle to the axis of the first support rod, and the cleaning module is connected to the second support rod; The driving component is used to drive the first support rod to rotate around the first axis, and to drive the cleaning module to rotate around the first axis through the second support rod.

7. The cleaning robot according to claim 6, characterized in that, The second support rod is rotatably connected to the first support rod via a first pivot about a second axis; The second axis is perpendicular to the first axis, and the second axis is perpendicular to the axis of the first support rod.

8. The cleaning robot according to claim 7, characterized in that, The swing arm mechanism further includes a connecting rod, one end of which is rotatably connected to the first support rod via a second pivot, and the other end of which is rotatably connected to the second support rod via a third pivot. The axes of the first rotating shaft, the second rotating shaft, and the third rotating shaft are parallel; The first support rod, the connecting rod, and the second support rod work together to define a triangular space.

9. The cleaning robot according to any one of claims 2 to 4, characterized in that, The cleaning assembly is provided with a flow channel, one end of which is connected to the negative pressure chamber, and the other end is used to connect to a liquid supply device that can provide cleaning agent.

10. The cleaning robot according to claim 9, characterized in that, The cleaning assembly includes a liquid inlet assembly and a cleaning component. The liquid inlet assembly is connected to the cleaning tray and is partially exposed on the top of the cleaning tray. The cleaning component is rotatably connected to the liquid inlet assembly and is located within the negative pressure chamber; The liquid inlet assembly is provided with a liquid inlet channel for connecting to the liquid supply device, and the cleaning component is provided with at least one liquid outlet channel. The at least one liquid outlet channel is connected to the liquid inlet channel to form the flow channel. The inlet channel is used to connect to the liquid supply device, and the outlet channel is connected to the negative pressure chamber.

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