Wall climbing cleaning device

Abstract

The utility model discloses a wall cleaning device, include: fuselage, walking mechanism, first electric drive mechanism, negative pressure adsorption mechanism, second electric drive mechanism, cleaning mechanism, third electric drive mechanism, gas spouts mechanism, and fuselage is equipped with device cabin, walking mechanism is established at the bottom of fuselage, first electric drive mechanism drive connection walking mechanism and be established in device cabin, negative pressure adsorption mechanism is established on the fuselage to form negative pressure adsorption on the wall surface to be cleaned, second electric drive mechanism drive connection negative pressure adsorption mechanism, to make negative pressure adsorption mechanism form negative pressure, cleaning mechanism is established at the bottom of fuselage, third electric drive mechanism drive connection cleaning mechanism and be established in device cabin, gas spouts mechanism is established on the fuselage and sprays inert gas in device cabin, to make device cabin form positive pressure, the wall cleaning device of the utility model can clean the dangerous wall surface containing silicon powder and other substances, avoid wall cleaning device and silicon powder contact explosion, improve wall cleaning device reliability.

Description

Technical Field

[0001] This utility model relates to the field of wall-climbing robot technology, and in particular to a wall-climbing cleaning device. Background Technology

[0002] Currently, in various production tasks, reduction halls are large workshops specifically designed to house numerous reduction furnaces for chemical vapor deposition (CVD) reactions. During the reaction process, extremely fine silicon dust may escape and accumulate at high altitudes such as wall panels and ceilings. This dust is flammable and poses a potential risk of flash explosion when exposed to a source of ignition (such as electric sparks or static electricity) at certain concentrations. Furthermore, the reduction hall requires cleaning areas that are high in elevation and cover a large area. Manual cleaning necessitates the use of elevators for cleaning personnel. This manual cleaning method is inefficient, produces poor cleaning results, is time-consuming, and poses significant safety risks to personnel. Therefore, achieving safe, efficient, and low-cost automated cleaning in such high-risk, high-cleanliness environments has become a pressing issue that needs to be addressed. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. Therefore, one objective of this invention is to provide a wall-climbing cleaning device that can clean hazardous walls containing substances such as silica powder, preventing explosions from contact with silica powder and improving the reliability of the wall-climbing cleaning device.

[0004] The wall-climbing cleaning device according to an embodiment of the present invention includes: a body, wherein the body is provided with a device compartment; a walking mechanism, wherein the walking mechanism is disposed at the bottom of the body; a first electric drive mechanism, wherein the first electric drive mechanism drives and is connected to the walking mechanism and is disposed within the device compartment; a negative pressure adsorption mechanism, wherein the negative pressure adsorption mechanism is disposed on the body to form a negative pressure and adsorb onto the wall surface to be cleaned; a second electric drive mechanism, wherein the second electric drive mechanism drives and is connected to the negative pressure adsorption mechanism to form a negative pressure, wherein the second electric drive mechanism is disposed within the device compartment; a cleaning mechanism, wherein the cleaning mechanism is disposed at the bottom of the body; a third electric drive mechanism, wherein the third electric drive mechanism drives and is connected to the cleaning mechanism and is disposed within the device compartment; and a gas ejection mechanism, wherein the gas ejection mechanism is disposed on the body and ejects inert gas into the device compartment to form a positive pressure within the device compartment.

[0005] According to the embodiments of the present invention, the wall-climbing cleaning device continuously injects inert gas into the sealed device chamber through a gas ejection mechanism, making the internal pressure of the device chamber higher than the external ambient pressure, thus forming a positive pressure environment. Even if there is a slight leak in the seal of the device chamber, the inert gas inside the device chamber will overflow outward, which can effectively isolate the external explosive dust environment. This prevents the electric sparks that may be generated by the first electric drive mechanism, the second electric drive mechanism, and the third electric drive mechanism from coming into contact with the external explosive dust environment, avoiding the risk of explosion of the wall-climbing cleaning device and improving the reliability of the wall-climbing cleaning device.

[0006] In some embodiments of this utility model, the walking mechanism includes multiple walking tracks, which are spaced apart along the width direction of the machine body. The first electric drive mechanism drives the multiple walking tracks to walk on the wall surface to be cleaned.

[0007] In some embodiments of this utility model, the negative pressure adsorption mechanism includes multiple vacuum suction cup assemblies, which are disposed on both sides of the walking mechanism in the width direction of the body; each vacuum suction cup assembly includes multiple vacuum suction cups, each vacuum suction cup including a vacuum tube, a flexible joint and a suction cup, the vacuum tube is disposed on the body, the suction cup is connected to the vacuum tube through the flexible joint, and the second electric drive mechanism is connected to all the vacuum tubes so that the suction cup forms a negative pressure through the vacuum tube, and each suction cup has a first filter at its air inlet.

[0008] In some embodiments of this utility model, the sum of the areas of the air inlets of all the suction cups is S1, and the contact area between the wall-climbing cleaning device and the wall surface to be cleaned is S2, wherein S1 / S2≥0.8.

[0009] In some embodiments of this utility model, each suction cup is provided with a silicone sealing strip at the end away from the vacuum tube, and the silicone sealing strip is arranged around the air inlet of the suction cup.

[0010] In some embodiments of this utility model, the second electric drive mechanism includes a first vacuum pump group and a second vacuum pump group, both of which are connected to the negative pressure adsorption mechanism. The second vacuum pump group is configured to start when the first vacuum pump group fails.

[0011] In some embodiments of this utility model, the machine body is provided with a particulate matter collection chamber, and the cleaning mechanism includes a flexible brush head, an electrostatic adsorption component, and a dust collection component. The flexible brush head is rotatably mounted on the machine body and is extendable and retractable in a direction perpendicular to the machine body to adjust the pressure exerted by the flexible brush head on the wall surface to be cleaned. The electrostatic adsorption component is disposed on the flexible brush head and forms an electrostatic field to adsorb the particulate matter swept by the flexible brush head. The dust collection component is disposed in the particulate matter collection chamber to collect the particulate matter adsorbed by the electrostatic adsorption component. The third electric drive mechanism includes a first drive component, a second drive component, and a third drive component. The first drive component drives the flexible brush head to rotate, the second drive component is connected to the electrostatic adsorption component to form the electrostatic field, and the third drive component drives the dust collection component.

[0012] In some embodiments of this utility model, the suction port of the dust collection component is provided with a second filter element, and the filtration level of the second filter element is H14.

[0013] In some embodiments of this utility model, the wall-climbing cleaning device includes a lidar, a binocular vision camera, and an ultrasonic sensor disposed on the front side of the body. The lidar, the binocular vision camera, and the ultrasonic sensor are configured to construct an environmental map and perform dynamic path planning.

[0014] In some embodiments of this utility model, the fuselage is provided with an airbag compartment, the wall-climbing cleaning device includes an airbag assembly, the airbag assembly includes an airbag and an ejection component, the airbag and the ejection component are disposed in the airbag compartment, and the ejection component is configured to drive the airbag to eject from the airbag compartment.

[0015] 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

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 Schematic diagram of the wall-climbing cleaning device provided in some embodiments of this utility model; Figure 2 This is a schematic diagram of the internal structure of the wall-climbing cleaning device provided in some embodiments of the present invention; Figure 3 A cross-sectional view of a vacuum suction cup provided for some embodiments of this utility model.

[0017] Figure label: 100. Wall-climbing cleaning device; 10. Fuselage; 11. Components compartment; 12. Particulate matter collection compartment; 13. Airbag compartment; 14. Negative pressure compartment; 20. Walking mechanism; 21. Walking track; 30. First electric drive mechanism; 40. Negative pressure adsorption mechanism; 41. Vacuum suction cup assembly; 411. Vacuum suction cup; 4111. Vacuum tube; 4112. Flexible joint; 4113. Suction cup; 4113a. Air inlet; 41131. First filter element; 41132. Silicone sealing strip; 50. Second electric drive mechanism; 51. First vacuum pump assembly; 52. Second vacuum pump assembly; 60. Cleaning mechanism; 61. Flexible brush head; 611. Connecting rod; 62. Electrostatic adsorption assembly; 63. Dust collection assembly; 631. Second filter element; 70. Third electric drive mechanism; 71. First drive component; 72. Second drive component; 73. Third drive component 80. Gas ejection mechanism; 81. Inert gas compression tank; 90. LiDAR; 110. Binocular vision camera; 120. Ultrasonic sensor; 130. Airbag assembly; 131. Airbag; 132. Ejection component; 140. Control system. Detailed Implementation

[0018] 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.

[0019] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0020] Furthermore, features specified as "first" or "second" may explicitly or implicitly include one or more of the same feature, used to distinguish and describe features, without any order or distinction of importance.

[0021] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more. In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] The following is for reference. Figures 1-3 This describes the wall-climbing cleaning device 100 according to an embodiment of the present utility model.

[0023] like Figures 1 to 2 As shown, the wall-climbing cleaning device 100 of this utility model embodiment includes: a body 10, a walking mechanism 20, a first electric drive mechanism 30, a negative pressure adsorption mechanism 40, a second electric drive mechanism 50, a cleaning mechanism 60, a third electric drive mechanism 70, and a gas ejection mechanism 80. The body 10 is provided with a device compartment 11; the walking mechanism 20 is located at the bottom of the body 10; the first electric drive mechanism 30 drives and connects to the walking mechanism 20 and is located inside the device compartment 11; the negative pressure adsorption mechanism 40 is located on the body 10 to form a negative pressure adsorption onto the wall surface to be cleaned; the second electric drive mechanism 50 drives and connects to the negative pressure adsorption mechanism 40 to form a negative pressure, and the second electric drive mechanism 50 is located inside the device compartment 11; the cleaning mechanism 60 is located at the bottom of the body 10; the third electric drive mechanism 70 drives and connects to the cleaning mechanism 60 and is located inside the device compartment 11; the gas ejection mechanism 80 is located on the body 10 and ejects inert gas into the device compartment 11 to form a positive pressure inside the device compartment 11. The wall-climbing cleaning device 100 of this utility model is feasible.

[0024] The body 10 can refer to the main frame and shell of the wall-climbing cleaning device 100, providing a base for the installation and support of other components. The material of the body 10 can be, but is not limited to, an aluminum alloy frame with a PP (polypropylene) shell, stainless steel, antistatic engineering plastics, etc. For example, the body 10 can be made of an aluminum alloy frame with a PP (polypropylene) shell, which can reduce the weight of the body 10, prevent static electricity, and improve the safety of the wall-climbing cleaning device 100. The component compartment 11 can refer to the compartment structure for housing electrical components, and can be located at the front end of the body 10.

[0025] The walking mechanism 20 can refer to a mechanism that contacts and moves with the wall surface to be cleaned, and can be, but is not limited to, tracked, wheeled, footed, and wheel-tracked hybrid mechanisms, etc. For example, see reference. Figure 1 The walking mechanism 20 can be a tracked type.

[0026] The negative pressure adsorption mechanism 40 refers to the mechanism that adsorbs onto the wall surface to be cleaned, and there can be multiple mechanisms. For example, the number of negative pressure adsorption mechanisms 40 can be, but is not limited to, two, three, four, five, etc. The negative pressure adsorption mechanism 40 can be in contact with the wall surface to be cleaned or it can not be in contact with the wall surface to be cleaned. Both methods can achieve the goal of adsorbing the entire wall-climbing cleaning device 100 onto the wall surface to be cleaned.

[0027] The first electric drive mechanism 30 can refer to the mechanism that drives the walking mechanism 20, the second electric drive mechanism 50 can refer to the mechanism that drives the negative pressure adsorption mechanism 40, and the third electric drive mechanism 70 can refer to the mechanism that drives the cleaning mechanism 60. All three electric drive mechanisms are located within the device compartment 11. It is understood that the first electric drive mechanism 30, the second electric drive mechanism 50, and the third electric drive mechanism 70 are all electrically powered drive devices.

[0028] The cleaning mechanism 60 can refer to a mechanism for cleaning the wall surface to be cleaned. There can be multiple such mechanisms, arranged along the vehicle body direction.

[0029] The gas ejection mechanism 80 can refer to a mechanism that ejects an inert gas, which can be, but is not limited to, nitrogen, argon, etc. For example, the inert gas can be nitrogen, which is completely inert and does not support combustion, thus protecting the internal structure of the device compartment 11 and is relatively inexpensive. The gas ejection mechanism 80 can continuously fill the device compartment 11 with inert gas, creating a positive pressure inside the device compartment 11 (for example, maintaining the pressure inside the device compartment 11 at 1.05 to 1.2 times the atmospheric pressure). This isolates the external explosive dust environment, preventing easily explosive particles (such as silicon powder) from entering the device compartment 11 from the clean environment. This makes it less likely for easily explosive particles to come into contact with electrical sparks and cause an explosion risk.

[0030] Understandably, the negative pressure adsorption mechanism 40 has three states. When the negative pressure is low, the wall-climbing cleaning device 100 cannot adhere to the wall to be cleaned. In this state, the wall-climbing cleaning device 100 can be removed from the wall after cleaning. When the negative pressure is appropriate, the wall-climbing cleaning device 100 can adhere to the wall to be cleaned, and the first electric drive mechanism 30 can drive the walking mechanism 20 to move. That is, the adsorption force provided by the negative pressure adsorption mechanism 40 is appropriate, which can ensure that the wall-climbing cleaning device 100 can adhere to the wall to be cleaned, and also ensure that the walking mechanism 20 can move on the wall to be cleaned. When the negative pressure is high, the wall-climbing cleaning device 100 can adhere to the wall to be cleaned, and the first electric drive mechanism 30 cannot drive the walking mechanism 20 to move. In this state, the wall-climbing cleaning device 100 can be firmly fixed in the target position and is not easy to detach or displace from the wall to be cleaned.

[0031] In the above technical solution, the second electric drive mechanism 50 drives the negative pressure adsorption mechanism 40 to form a suitable negative pressure, causing the wall-climbing cleaning device 100 to adhere to the wall surface to be cleaned. Simultaneously, the first electric drive mechanism 30 drives the walking mechanism 20 to move or remain stationary on the wall surface, and the third electric drive mechanism 70 drives the cleaning mechanism 60 to clean the wall surface. During the operation of the wall-climbing cleaning device 100, the gas ejection mechanism 80 ejects inert gas into the device compartment 11 to create a positive pressure inside the device compartment 11.

[0032] In addition, the wall-climbing cleaning device 100 includes a control system 140, which deploys an edge computing unit (industrial-grade ARM chip) to support offline task execution and cloud data synchronization (cleaning records, fault logs).

[0033] According to the embodiment of the present invention, the wall-climbing cleaning device 100 continuously injects inert gas into the sealed device compartment 11 through the gas ejection mechanism 80, making the internal pressure of the device compartment 11 higher than the external ambient pressure, forming a positive pressure environment. Even if there is a slight leak in the seal of the device compartment 11, it will only be the inert gas inside the device compartment 11 overflowing outwards, which can effectively isolate the external explosive dust environment, thereby isolating the electric sparks that may be generated by the first electric drive mechanism 30, the second electric drive mechanism 50 and the third electric drive mechanism 70 from contacting the external explosive dust environment, avoiding the risk of explosion of the wall-climbing cleaning device 100, and improving the reliability of the wall-climbing cleaning device 100.

[0034] In some embodiments of this utility model, reference is made to Figure 1 The walking mechanism 20 includes multiple walking tracks 21, which are spaced apart along the width direction of the machine body 10. The first electric drive mechanism 30 drives the multiple walking tracks 21 to move on the wall to be cleaned.

[0035] "The width direction of fuselage 10" can be referenced. Figure 1 The left and right directions.

[0036] The number of tracks 21 can be, but is not limited to, two, three, four, five, etc. (See also...) Figure 1 One walking track 21 can be installed on each of the left and right sides of the fuselage 10.

[0037] In the above technical solution, the walking track 21 can be applied to large-area flat walls and has higher stability. As a result, multiple walking tracks 21 make the weight and adsorption force of the wall-climbing cleaning device 100 more evenly distributed on the wall to be cleaned, which can reduce local pressure, reduce damage to the wall, and also make the walking mechanism 20 move stably on the wall to be cleaned, thus improving the reliability of the walking mechanism 20.

[0038] In some embodiments of this utility model, reference is made to Figures 1 to 3 The negative pressure adsorption mechanism 40 includes multiple vacuum suction cup assemblies 41, which are located on both sides of the walking mechanism 20 in the width direction of the body 10. Each vacuum suction cup assembly 41 includes multiple vacuum suction cups 411, each vacuum suction cup 411 including a vacuum tube 4111, a flexible joint 4112, and a suction cup 4113. The vacuum tube 4111 is located on the body 10, and the suction cup 4113 is connected to the vacuum tube 4111 through the flexible joint 4112. The second electric drive mechanism 50 connects all the vacuum tubes 4111 to form a negative pressure through the vacuum tubes 4111 in the suction cups 4113. Each suction cup 4113 has a first filter element 41131 in its air inlet 4113a.

[0039] The number of vacuum suction cup assemblies 41 can be, but is not limited to, two, three, four, five, etc. The number of vacuum suction cups 411 can be, but is not limited to, two, three, four, five, etc. For example, see reference... Figure 1 The number of vacuum suction cup assemblies 41 can be two, respectively arranged on both sides of the width direction of the body 10, and each vacuum suction cup assembly 41 includes two vacuum suction cups 411.

[0040] The vacuum tube 4111, flexible joint 4112, and suction cup 4113 are hollow and connected in sequence. The vacuum tube 4111 can rotate and extend relative to the body 10. The flexible joint 4112 allows the suction cup 4113 to rotate and extend relative to the vacuum tube 4111, thus giving the suction cup 4113 better flexibility in relation to the wall to be cleaned. This facilitates the movement of the walking mechanism 20 when the wall-climbing cleaning device 100 is vacuum-adhered to the wall to be cleaned.

[0041] The first filter element 41131 is a PTFE membrane filter with a filtration accuracy of ≤1μm, which can prevent fine particles such as silicon powder from entering the second electric drive mechanism 50.

[0042] In the above technical solution, the design of multiple vacuum suction cups 411 and flexible joints 4112 enhances the adhesion between the wall-climbing cleaning device 100 and the wall surface to be cleaned, preventing the wall-climbing cleaning device 100 from falling. It also adapts to complex curved surfaces and seams, improving the reliability of the wall-climbing cleaning device 100. Each suction cup 4113 has an air inlet 4113a equipped with a first filter element 41131, which prevents particles such as silicon powder from entering the second electric drive mechanism 50, further reducing the risk of explosion and thus improving the reliability of the wall-climbing cleaning device 100.

[0043] Optionally, refer to Figure 1The body 10 is provided with a negative pressure chamber 14. The second electric drive mechanism 50 is connected to the vacuum suction cup assembly 41 through the negative pressure chamber 14. The second electric drive mechanism 50 can make the negative pressure chamber 14 a negative pressure environment, so that the vacuum suction cup assembly 41 can be adsorbed onto the wall surface to be cleaned.

[0044] In some embodiments of this utility model, reference is made to Figure 1 and Figure 3 The sum of the areas of the air inlets 4113a of all suction cups 4113 is S1, and the contact area between the wall-climbing cleaning device 100 and the wall to be cleaned is S2, wherein S1 / S2≥0.8.

[0045] The contact area between the wall-climbing cleaning device 100 and the wall to be cleaned can refer to the sum of the contact surfaces of all components that come into contact with the wall to be cleaned. For example, in some examples, the contact area between the wall-climbing cleaning device 100 and the wall to be cleaned can refer to the sum of the contact surfaces of the walking mechanism 20 and the wall to be cleaned, the contact surfaces of the cleaning mechanism 60 and the wall to be cleaned, and the contact surfaces of the negative pressure adsorption mechanism 40 and the wall to be cleaned.

[0046] In the above technical solution, by setting the ratio of S1 / S2 to be greater than or equal to 0.8, it can be ensured that all suction cups 4113 and the wall surface to be cleaned have sufficient contact area, thereby improving the connection strength between the wall-climbing cleaning device 100 and the wall surface to be cleaned and preventing the wall-climbing cleaning device 100 from falling off.

[0047] In some embodiments of this utility model, reference is made to Figure 3 Each suction cup 4113 has a silicone sealing strip 41132 at the end away from the vacuum tube 4111, and the silicone sealing strip 41132 is arranged around the air inlet 4113a of the suction cup 4113.

[0048] In the above technical solution, the silicone sealing strip 41132 can adapt to the unevenness of the wall surface to be cleaned, prevent external gas from entering the suction cup 4113, ensure the negative pressure environment inside the suction cup 4113, and improve the reliability of the connection between the suction cup 4113 and the wall surface to be cleaned.

[0049] In some embodiments of this utility model, reference is made to Figure 2 The second electric drive mechanism 50 includes a first vacuum pump group 51 and a second vacuum pump group 52. Both the first vacuum pump group 51 and the second vacuum pump group 52 are connected to the negative pressure adsorption mechanism 40. The second vacuum pump group 52 is configured to start when the first vacuum pump group 51 fails.

[0050] The first vacuum pump group 51 and the second vacuum pump group 52 can constitute a dual-redundant vacuum pump group, with one used for operation and the other as a backup pump group. Both have a flow rate greater than or equal to 200 L / min and can monitor the adsorption force and the pressure on the wall surface in real time. When the pressure falls below the target threshold (e.g., 200 N / m), the system will detect the adsorption force and detect the pressure on the wall surface.2 When the emergency shutdown is triggered, the standby pump unit will be started.

[0051] In the above technical solution, the design of the first vacuum pump group 51 and the second vacuum pump group 52 can monitor the suction force of the suction cup 4113 and the pressure of the negative pressure chamber 14 in real time. When the pressure is lower than a certain threshold, the first vacuum pump group 51 is triggered to stop in an emergency and the second vacuum pump group 52 is started, so as to ensure that the suction force of the suction cup 4113 is continuous and uninterrupted, reduce the risk of the wall-climbing cleaning device 100 falling, and improve the reliability of the wall-climbing cleaning device 100.

[0052] In some embodiments of this utility model, reference is made to Figure 1 and Figure 2 The body 10 is provided with a particulate collection chamber 12. The cleaning mechanism 60 includes a flexible brush head 61, an electrostatic adsorption assembly 62, and a vacuuming assembly 63. The flexible brush head 61 is rotatably mounted on the body 10 and can be extended and retracted in a direction perpendicular to the body 10 to adjust the pressure exerted by the flexible brush head 61 on the wall to be cleaned. The electrostatic adsorption assembly 62 is mounted on the flexible brush head 61 and forms an electrostatic field to adsorb the particulate matter swept by the flexible brush head 61. The vacuuming assembly 63 is located in the particulate collection chamber 12 to collect the particulate matter adsorbed by the electrostatic adsorption assembly 62. The third electric drive mechanism 70 includes a first drive component 71, a second drive component 72, and a third drive component 73. The first drive component 71 drives the flexible brush head 61 to rotate. The second drive component 72 is connected to the electrostatic adsorption assembly 62 to form an electrostatic field. The third drive component 73 drives the vacuuming assembly 63.

[0053] The gas ejection mechanism 80 includes an inert gas compression tank 81, which is located inside the particulate matter collection chamber 12. The inert gas compression tank 81 is used to provide inert gas to the device chamber 11. The particulate matter collection chamber 12 and the inert gas compression tank 81 can be removed from the body 10 to facilitate the emptying of particulate matter from the particulate matter collection chamber 12 and the replacement of a new inert gas compression tank 81.

[0054] In addition, the particulate matter collection chamber 12 can be a self-sealing dust collection box for collecting particulate matter. The particulate matter falls directly into the box, and the replacement cycle is ≥72 hours. The self-sealing dust collection box is equipped with an RFID chip and is linked with the communication system. When the chamber is full, it will automatically return and alarm.

[0055] Optionally, refer to Figure 2 The flexible brush head 61 is equipped with a connecting rod 611 and is connected to the body 10 through the connecting rod 611. The connecting rod 611 can rotate relative to the body 10, increasing the contact area between the flexible brush head 61 and the wall surface to be cleaned, thereby improving cleaning efficiency.

[0056] In the above technical solution, the flexible brush head 61 can be a flexible carbon fiber brush head, and the pressure range can be adjusted. The adjustable pressure range of the flexible brush head 61 can be controlled within 0.1~0.5 N / cm. 2 The pressure is adjusted by feedback from the piezoelectric sensor to avoid damaging the coating on the wall to be cleaned. The electrostatic adsorption component 62 can apply a high voltage electrostatic field of -10kV to -15kV to adsorb silicon powder with a particle size ≥0.3μm, thereby improving the collection efficiency. The dust collection component 63 can collect the silicon powder in the particulate matter collection chamber 12.

[0057] In some embodiments of this utility model, reference is made to Figure 3 The suction port of the suction assembly 63 is provided with a second filter 631, and the filtration level of the second filter 631 is H14.

[0058] H14 refers to an efficiency level of high efficiency particulate air (HEPA) filters as defined in the European standard EN 1822, which has a filtration efficiency of not less than 99.995% for particles with a diameter of 0.03 micrometers (μm).

[0059] In the above technical solution, the second filter element 631 ensures that the inhaled particulate matter is completely trapped in the particulate matter collection chamber 12, preventing the particulate matter from spreading, avoiding pollution, and ensuring the cleaning effect.

[0060] In some embodiments of this utility model, reference is made to Figure 1 The wall-climbing cleaning device 100 includes a lidar 90, a binocular vision camera 110, and an ultrasonic sensor 120 located on the front side of the body 10. The lidar 90, binocular vision camera 110, and ultrasonic sensor 120 are configured to build an environmental map and perform dynamic path planning. The lidar 90 can be a 16-line lidar (scanning frequency of 120Hz), and the binocular vision camera 110 can have a resolution of 1920×1080@30fps. The lidar 90, the binocular vision camera 110 and the ultrasonic sensor 120 work together to build a centimeter-level accurate environmental map based on the SLAM algorithm.

[0061] In the above technical solution, by using the design of LiDAR 90, binocular vision camera 110 and ultrasonic sensor 120, and optimizing the cleaning path based on AI algorithm, the cleaning area of ​​the wall to be cleaned can be increased, and obstacles such as pipes and interfaces on the wall to be cleaned can be avoided, thereby improving the cleaning effect.

[0062] In some embodiments of this utility model, reference is made to Figure 1 and Figure 3The fuselage 10 is provided with an airbag compartment 13. The wall-climbing cleaning device 100 includes an airbag assembly 130, which includes an airbag 131 and an ejection component 132. The airbag 131 and the ejection component 132 are located inside the airbag compartment 13. The ejection component 132 is configured to drive the airbag 131 to eject from the airbag compartment 13.

[0063] Understandably, the airbag assembly 130 can be similar to a parachute, deploying when the wall-climbing cleaning device 100 falls to reduce its descent rate. Alternatively, it can be similar to a vehicle's airbag, deploying when the wall-climbing cleaning device 100 falls to envelop it. Through the cushioning and energy absorption of the airbag 131, the wall-climbing cleaning device 100 is protected, while also reducing the risk of injury to personnel and equipment below.

[0064] Additionally, a Kevlar mesh (mesh size ≤ 2cm) can be suspended below the wall-climbing cleaning device 100 to intercept accidentally dropped tools or parts.

[0065] In the above technical solution, when a risk of falling is detected, the airbag 131 can be deployed when the wall-climbing cleaning device 100 falls, protecting the wall-climbing cleaning device 100, preventing the wall-climbing cleaning device 100 from being damaged, and improving the reliability of the wall-climbing cleaning device 100.

[0066] The following is combined with Figures 1 to 3 This describes a specific embodiment of the wall-climbing cleaning device 100 of the present invention.

[0067] The wall-climbing cleaning device 100 includes: a body 10, a walking mechanism 20, a first electric drive mechanism 30, a negative pressure adsorption mechanism 40, a second electric drive mechanism 50, a cleaning mechanism 60, a third electric drive mechanism 70, a gas ejection mechanism 80, a lidar 90, a binocular vision camera 110, an ultrasonic sensor 120, and an airbag assembly 130.

[0068] The fuselage 10 is equipped with a particulate matter collection chamber 12, a device chamber 11, and an airbag chamber 13.

[0069] The walking mechanism 20 includes two walking tracks 21, which are spaced apart along the width of the machine body 10. The first electric drive mechanism 30 drives the multiple walking tracks 21 to move on the wall to be cleaned.

[0070] The first electric drive mechanism 30 drives the walking mechanism 20 and is located inside the device compartment 11.

[0071] The second electric drive mechanism 50 includes a first vacuum pump group 51 and a second vacuum pump group 52. Both the first vacuum pump group 51 and the second vacuum pump group 52 are connected to the negative pressure adsorption mechanism 40. The second vacuum pump group 52 is configured to start when the first vacuum pump group 51 fails.

[0072] The third electric drive mechanism 70 includes a first drive component 71, a second drive component 72 and a third drive component 73. The first drive component 71 drives the flexible brush head 61 to rotate. The second drive component 72 is connected to the electrostatic adsorption component 62 so that the electrostatic adsorption component 62 forms an electrostatic field. The third drive component 73 drives the dust collection component 63.

[0073] The negative pressure adsorption mechanism 40 includes two vacuum suction cup assemblies 41, which are located on both sides of the walking mechanism 20 in the width direction of the body 10. Each vacuum suction cup assembly 41 includes two vacuum suction cups 411, each comprising a vacuum tube 4111, a flexible joint 4112, and a suction cup 4113. The vacuum tube 4111 is mounted on the body 10. The suction cup 4113 is connected to the vacuum tube 4111 via the flexible joint 4112. The second electric drive mechanism 50 connects all the vacuum tubes 4111, creating a negative pressure in the suction cups 4113 through the vacuum tubes 4111. Each suction cup 4113 has an air inlet 4113a equipped with a first filter element 41131. A silicone sealing strip 41132 is provided at the end of each suction cup 4113 away from the vacuum tube 4111, and the silicone sealing strip 41132 is arranged around the air inlet 4113a of the suction cup 4113. The cleaning mechanism 60 includes a flexible brush head 61, an electrostatic adsorption component 62, and a vacuuming component 63. The flexible brush head 61 is rotatably mounted on the body 10 and is extendable and retractable in a direction perpendicular to the body 10 to adjust the pressure exerted by the flexible brush head 61 on the wall surface to be cleaned. The electrostatic adsorption component 62 is mounted on the flexible brush head 61 and forms an electrostatic field to adsorb particulate matter swept by the flexible brush head 61. The vacuuming component 63 is located in the particulate matter collection chamber 12 to collect the particulate matter adsorbed by the electrostatic adsorption component 62.

[0074] A gas ejection mechanism 80 is installed on the fuselage 10 and ejects nitrogen gas into the device compartment 11 to create a positive pressure inside the device compartment 11.

[0075] The lidar 90, binocular vision camera 110, and ultrasonic sensor 120 are configured for building environmental maps and dynamic path planning.

[0076] The airbag assembly 130 includes an airbag 131 and an ejection component 132, which are disposed within the airbag chamber 13. The ejection component 132 is configured to drive the airbag 131 out of the airbag chamber 13.

[0077] In the description of this specification, references to terms such as "some embodiments," "optionally," "furthermore," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. 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.

[0078] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A wall-climbing cleaning device, characterized in that, include: The fuselage, which includes a component compartment; A walking mechanism is located at the bottom of the machine body; A first electric drive mechanism, which drives and connects to the walking mechanism and is located inside the device compartment; A negative pressure adsorption mechanism is provided on the machine body to create negative pressure adsorption onto the wall surface to be cleaned; A second electric drive mechanism drives the negative pressure adsorption mechanism to create a negative pressure in the negative pressure adsorption mechanism. The second electric drive mechanism is located inside the device compartment. A cleaning mechanism is located at the bottom of the machine body; A third electric drive mechanism is connected to the cleaning mechanism and is located inside the device compartment; A gas ejection mechanism is provided on the machine body and ejects inert gas into the device compartment to create positive pressure inside the device compartment.

2. The wall-climbing cleaning device according to claim 1, characterized in that, The walking mechanism includes multiple walking tracks, which are spaced apart along the width of the machine body. The first electric drive mechanism drives the multiple walking tracks to walk on the wall surface to be cleaned.

3. The wall-climbing cleaning device according to claim 1, characterized in that, The negative pressure adsorption mechanism includes multiple vacuum suction cup assemblies, which are located on both sides of the walking mechanism in the width direction of the body. Each vacuum suction cup assembly includes multiple vacuum suction cups, each vacuum suction cup including a vacuum tube, a flexible joint, and a suction cup. The vacuum tube is located on the body, and the suction cup is connected to the vacuum tube through the flexible joint. The second electric drive mechanism connects all the vacuum tubes so that the suction cup forms a negative pressure through the vacuum tube. Each suction cup has a first filter at its air inlet.

4. The wall-climbing cleaning device according to claim 3, characterized in that, The sum of the areas of the air inlets of all the suction cups is S1, and the contact area between the wall-climbing cleaning device and the wall to be cleaned is S2, wherein S1 / S2≥0.

8.

5. The wall-climbing cleaning device according to claim 3, characterized in that, Each suction cup has a silicone sealing strip at one end away from the vacuum tube, and the silicone sealing strip is arranged around the air inlet of the suction cup.

6. The wall-climbing cleaning device according to any one of claims 1 to 5, characterized in that, The second electric drive mechanism includes a first vacuum pump group and a second vacuum pump group, both of which are connected to the negative pressure adsorption mechanism. The second vacuum pump group is configured to start when the first vacuum pump group fails.

7. The wall-climbing cleaning device according to claim 1, characterized in that, The machine body is equipped with a particulate matter collection chamber, and the cleaning mechanism includes a flexible brush head, an electrostatic adsorption component and a dust collection component. The flexible brush head is rotatably mounted on the machine body and can be extended and retracted in a direction perpendicular to the machine body to adjust the pressure of the flexible brush head on the wall surface to be cleaned. The electrostatic adsorption component is disposed on the flexible brush head and forms an electrostatic field to adsorb the particles swept by the flexible brush head. The dust collection component is disposed in the particle collection chamber to collect the particles adsorbed by the electrostatic adsorption component. The third electric drive mechanism includes a first drive component, a second drive component, and a third drive component. The first drive component drives the flexible brush head to rotate, the second drive component is connected to the electrostatic adsorption component to form the electrostatic field, and the third drive component drives the dust collection component.

8. The wall-climbing cleaning device according to claim 7, characterized in that, The suction port of the vacuum assembly is equipped with a second filter element, and the second filter element has a filtration level of H14.

9. The wall-climbing cleaning device according to claim 1, characterized in that, The wall-climbing cleaning device includes a lidar, a binocular vision camera, and an ultrasonic sensor located on the front side of the device. The lidar, the binocular vision camera, and the ultrasonic sensor are configured to construct an environmental map and perform dynamic path planning.

10. The wall-climbing cleaning device according to claim 1, characterized in that, The fuselage is provided with an airbag compartment, and the wall-climbing cleaning device includes an airbag assembly. The airbag assembly includes an airbag and an ejection component. The airbag and the ejection component are located in the airbag compartment, and the ejection component is configured to drive the airbag to be ejected from the airbag compartment.

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