CN110215164A - The rotating direction control method and progress control method of clean robot, clean robot - Google Patents
The rotating direction control method and progress control method of clean robot, clean robot Download PDFInfo
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- CN110215164A CN110215164A CN201810173944.7A CN201810173944A CN110215164A CN 110215164 A CN110215164 A CN 110215164A CN 201810173944 A CN201810173944 A CN 201810173944A CN 110215164 A CN110215164 A CN 110215164A
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- crawler belt
- sucker
- clean robot
- negative pressure
- module
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001179 sorption measurement Methods 0.000 claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 11
- 241000252254 Catostomidae Species 0.000 claims description 32
- 230000008569 process Effects 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 5
- 239000002594 sorbent Substances 0.000 claims description 3
- 238000007789 sealing Methods 0.000 description 53
- 238000004140 cleaning Methods 0.000 description 13
- 230000001360 synchronised effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000006872 improvement Effects 0.000 description 9
- 239000011521 glass Substances 0.000 description 7
- 238000005096 rolling process Methods 0.000 description 7
- 239000000428 dust Substances 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Manipulator (AREA)
Abstract
The present invention provides a kind of clean robots, the rotating direction control method and progress control method of clean robot, the clean robot includes adsorption module, walking module, the control module with the adsorption module and the equal communication connection of the walking module, and the walking module includes the driving mechanism of a pair of of the crawler belt being oppositely arranged, the driving crawler belt rotation；The adsorption module includes the main sucker for being connected to the clean robot bottom, to the vacuum source of the main sucker offer negative pressure；The clean robot and the main sucker are rotatablely connected；When the clean robot need to be turned to side, the control module starts the adsorption module and provides negative pressure to the main sucker；The control module starts the walking module, and the crawler belt close to side to be diverted moves backward, and the crawler belt far from side to be diverted moves forward.
Description
Technical field
The present invention relates to robot field more particularly to a kind of clean robot for being adsorbed in surface to be cleaned and this is clear
The rotating direction control method and progress control method of clean robot.
Background technique
Currently, clean robot is increasingly entering in daily life, it is not only able to liberation both hands, additionally it is possible to instead of
Manually carry out the cleaning of some danger.By taking clean robot as an example, higher glass curtain wall, window, work can be cleaned
The wall surfaces such as the solar panel of bad environments.However these wall surfaces and non-horizontal surface, tilt angle is larger, therefore how to guarantee
Clean robot in the process of walking, cleaning whether be effectively adsorbed on wall surface do not fall in the process, need to consider various aspects
Factor.
In addition, there are gap or frame between glass curtain wall, window, solar panel, existing clean robot without
Method is walked across gap or frame, is needed manual handling, is made troubles to cleaning.
In view of this, it is necessary to existing clean robot be improved, to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of adsorbable clean robots and the cleaning machine in surface to be cleaned
The rotating direction control method and progress control method of people.
To achieve the above object, the present invention provides one kind
Clean robot, including adsorption module, walking module and the adsorption module and the walking module company of communicating
The control module connect, the walking module include the driving mechanism of a pair of of the crawler belt being oppositely arranged, the driving crawler belt rotation；Institute
Stating adsorption module includes the main sucker for being connected to the clean robot bottom, to the vacuum source of the main sucker offer negative pressure；
The clean robot and the main sucker are rotatablely connected；When the clean robot need to be turned to side, the control module
Start the adsorption module and provides negative pressure to the main sucker；The control module starts the walking module, close to be diverted
The crawler belt of side move backward, the crawler belt far from side to be diverted moves forward.
As a further improvement of the present invention, when the clean robot turns to, the movement speed phase of a pair of crawler belt
Together.
As a further improvement of the present invention, the adsorption module further includes with the control module communication connection to drive
The up-down drive device of the separate or close clean robot bottom of the main sucker, before clean robot turns to, the control
Molding block starts the up-down drive device and the main sucker is made to compress surface to be cleaned far from the clean robot.
As a further improvement of the present invention, the adsorption module further includes to the relief valve of the main sucker pressure release, clearly
When clean robot need to keep straight on, the control module controls the relief valve to the main sucker pressure release.
As a further improvement of the present invention, the walking module further includes that multiple crawler belts suction of track outer surface is arranged in
Disk provides the negative pressure component of negative pressure to crawler belt sucker and to the pressure release component of the crawler belt sucker pressure release；Clean robot needs
When steering, the control module starts the pressure release component to the crawler belt sucker pressure release；It is described when clean robot need to keep straight on
Control module controls the relief valve to the main sucker pressure release, and it is negative to crawler belt sucker offer to control the negative pressure component
Pressure.
As a further improvement of the present invention, the walking module further includes that multiple crawler belts suction of track outer surface is arranged in
Disk provides the negative pressure component of negative pressure to crawler belt sucker, and the crawler belt has so that the crawler belt sucker is towards surface to be cleaned
Working region and the crawler belt sucker is made to leave the non-active area on surface to be cleaned, the negative pressure component include negative pressure source,
Connect the connecting tube of the negative pressure source Yu the crawler belt sucker；In the walking module walking process, while being in workspace
The crawler belt sucker in domain is no less than M, M >=2；The crawler belt sucker includes N group, M >=N >=2；Shoe in every group of crawler belt sucker
Band sucker is connected, and the connecting tube connecting with every group of crawler belt sucker is connected to independent negative pressure source, while in working region
The crawler belt sucker belongs at least two different groups.
As a further improvement of the present invention, the arbitrary neighborhood two crawler belt suckers belong to different groups.
For achieving the above object, it the present invention also provides a kind of rotating direction control method of clean robot, provides such as power
Benefit require 1 described in clean robot, which is characterized in that the rotating direction control method of the clean robot includes the following steps:
S1: control module starts the adsorption module and provides negative pressure to the main sucker, and the main sucker provides adsorption capacity
So that robot is adsorbed in surface to be cleaned；
S2: the control module starts the walking module, and the crawler belt close to side to be diverted moves backward, far
The crawler belt from side to be diverted moves forward.
As a further improvement of the present invention, the adsorption module further includes with the control module communication connection to drive
The up-down drive device of the separate or close clean robot bottom of the main sucker, it is characterised in that: also wrapped before step S1
Include step S10:
The control module starts the up-down drive device and the main sucker is pressed far from the clean robot
Operating position to surface to be cleaned, then the control module starts the adsorption module to the main sucker offer negative pressure.
As a further improvement of the present invention, the adsorption module further includes with the control module communication connection to drive
The up-down drive device of the separate or close clean robot bottom of the main sucker, the adsorption module further includes to described
The relief valve of main sucker pressure release, the walking module further include multiple crawler belt suckers that track outer surface is arranged in, give crawler belt suction
Disk provides the negative pressure component of negative pressure and the pressure release component to the crawler belt sucker pressure release, it is characterised in that: step S1 and step
It further include step S2 between S20:
The control module starts the pressure release component to the crawler belt sucker pressure release.
As a further improvement of the present invention, the adsorption module further includes with the control module communication connection to drive
The up-down drive device of the separate or close clean robot bottom of the main sucker, the adsorption module further includes to described
The relief valve of main sucker pressure release, the walking module further include multiple crawler belt suckers that track outer surface is arranged in, give crawler belt suction
Disk provides the negative pressure component of negative pressure and the pressure release component to the crawler belt sucker pressure release, it is characterised in that: also wraps after step S2
Include step S3:
The control module controls the negative pressure component and provides negative pressure to the crawler belt sucker, and control the relief valve to
The main sucker pressure release.
For achieving the above object, the present invention also provides a kind of progress control method of clean robot, the cleanings
Robot includes adsorption module and walking module, and the adsorption module includes the main suction for being connected to the clean robot bottom
Disk provides the vacuum source of negative pressure to the main sucker, and the walking module includes a pair of of crawler belt, the driving institute that setting is oppositely arranged
State the driving mechanism of crawler belt rotation and multiple crawler belt suckers in track outer surface, which is characterized in that the clean robot
Progress control method include:
Using main sucker suction in surface to be cleaned, crawler belt sucker is in non-adsorbed state, and walking module driving is described clear
Clean machine human organism rotates relative to main sucker, completes the steering of clean robot；
Using crawler belt sucker suction in surface to be cleaned, main sucker is in non-adsorbed state, passes through the alternating of crawler belt sucker
The straight trip of clean robot is completed in absorption.
The beneficial effects of the present invention are: being provided when clean robot of the invention is turned to side by the main sucker
Negative-pressure adsorption is on wall surface；The crawler belt close to side to be diverted moves backward, the shoe far from side to be diverted
Band moves forward；It is not necessary that steering mechanism is additionally arranged, only driving a pair of of crawler belt to move backward forward by driving mechanism can be real
It turns now to, control mode is simple.
Detailed description of the invention
Fig. 1 is the overall structure diagram of clean robot of the invention.
Fig. 2 is that clean robot of the invention removes the partial structure diagram after shell.
Fig. 3 is the walking module schematic diagram of clean robot shown in FIG. 1.
Fig. 4 is the structural schematic diagram of the negative pressure component of clean robot shown in FIG. 1.
Fig. 5 is the exploded view of Fig. 4.
Fig. 6 is cross-sectional view of the Fig. 4 along the direction A-A.
Fig. 7 is structural schematic diagram of the negative pressure component of clean robot shown in FIG. 1 in another embodiment.
Fig. 8 is the exploded view of Fig. 7.
Fig. 9 is the part walking module schematic diagram of clean robot of the invention.
Figure 10 is the view of Fig. 9 in X direction.
Figure 11 is the perspective view of the relief valve of clean robot shown in 1.
Figure 12 be relief valve shown in Figure 11 in pressure release state along the cross-sectional view in the direction B-B.
Figure 13 is structural schematic diagram of the relief valve shown in Figure 12 in the transient process of piston pull.
Figure 14 is structural schematic diagram of the relief valve shown in Figure 12 in non-pressure release state.
The status diagram of clean robot of the invention when turning to when Figure 15.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
It is clean robot 100 of the invention, to clean glass curtain wall, window, solar energy as shown in Fig. 1 to Figure 15
The wall surfaces such as solar panel.Clean robot 100 includes mainly shell 1, fuselage 2, the walking module 3 for walking in wall surface, is used for
The adsorption module 4 being fixed on wall surface, the cleaning module 5 for cleaning wall surface, the biography for detecting wall surface edge, barrier etc.
Sensor module (not shown) and control module 6；The control module 6 can be with the equal communication connection of other modules.For convenience,
" wall surface " is known as " working surface " or " walkway surface " or " surface to be cleaned " again when describing different modules below.
Adsorption module 4 includes mainly vacuum source 41 and the main sucker 42 positioned at 100 bottom of clean robot, can be made
It obtains clean robot 100 to be adsorbed on wall surface, such as glass curtain wall, window, solar panel etc..The main sucker 42 has
Adsorbed state and non-adsorbed state, wherein " the main sucker is in adsorbed state ", it can under the different location of this paper or scene
Selection is using being described below mode: the main work of the sucker 42 or main sucker 42 is in running order or the main sucker
42 are adsorbed in surface to be cleaned etc.；" the main sucker is in non-adsorbed state ", it is optional under the different location of this paper or scene
Select to use and mode is described below: the main sucker 42 does not work or the main sucker 42 is in off working state or the main suction
42 pressure release of disk etc..
Cleaning module 5 includes for storing the dirt box of dust, cleaning head, being used to dust being swept into dirt box on cleaning head
The automatic-lifting type round brush of storage, the efficient brushless motor for dust suction, the cleaning module 5 blows, sweeps, inhales and synchronously completes, energy
Glass curtain wall, window, 99% surface dust accumulation of solar panel are removed, the photoelectric conversion efficiency of solar panel is promoted, is saved
About water and human resources, improve the benefit of photovoltaic power generation.
Sensor module can be used for detecting wall surface edge, gap, barrier etc., be convenient for automatic planning action route.
Walking module 3 is moved on wall surface for clean robot 100, it is main comprising be oppositely arranged a pair of of crawler belt 31,
The driving mechanism 32 for driving the crawler belt 31 to rotate, multiple crawler belt suckers 33 and the crawler belt that 31 outer surface of crawler belt is set
The negative pressure component 34 that sucker 33 is connected to.
The driving mechanism 32 include motor-driven gearbox, the first driving wheel 321 for being connect with the gearbox and
Driven wheel 322, first driving wheel 321 and the driven wheel 322 are distributed in the two sides of 31 length direction of crawler belt, described
Driving mechanism 32 is used to adjust the rotation direction and velocity of rotation of the crawler belt 31.
The crawler belt 31 includes working region parallel with walkway surface and towards walkway surface；Walking module operates normally
When, adsorbable other crawler belts in walkway surface, positioned at non-active area of part crawler belt sucker 33 positioned at the working region
Sucker 33 then leaves walkway surface.The crawler belt sucker 33 is as the rotation of the crawler belt 31 is alternately in working region and non-work
Make region switching.
It, can be by external force directly by the crawler belt when crawler belt sucker 33 is converted from working region to non-active area
Sucker 33 and wall surface separate；It can also be by the way that the reversely inflation pressure release of negative pressure component 34 be arranged；In addition pressure release can also be set
Component gives 33 pressure release of crawler belt sucker, and the pressure release component can select the structures such as pressure valve 35.
The negative pressure component 34 is including described in negative pressure source 341, the out splice going splice 342 being connected to the negative pressure source 341, driving
The second driving wheel 343 that out splice going splice 342 rotates；First driving wheel 321 and the linear velocity of second driving wheel 343
Ratio ρ1Equal to the ratio ρ of the perimeter of the length and the second driving wheel 343 of the crawler belt 312Namely the out splice going splice 342 with
33 synchronous rotary of crawler belt sucker.So as to avoid the connecting tube 345 of connecting band track sucker 33 and negative pressure component 34 mutual
Winding, guarantees no matter the crawler belt sucker 33 turns to any position and can guarantee the supply gas circuit connection of negative pressure.Specifically,
The walking module 3 further includes the nebenkern (not labeled) coaxial with the first driving wheel 321, first driving wheel 321 and institute
Stating nebenkern radius ratio is ρ1, the nebenkern and second driving wheel 343 are connect by synchronous belt 344.
In order to realize the rotation of the out splice going splice 342, the present invention provides two kinds of specific embodiments.
Embodiment one, with reference to shown in Fig. 7 and Fig. 8, the out splice going splice 342 is fixedly connected with the negative pressure source 341, described
Second driving wheel 343 is fixed with the out splice going splice 342 and/or 341 phase of the negative pressure source directly or by other structures indirectly；
So that the negative pressure source 341, the out splice going splice 342 with 33 synchronous rotary of crawler belt sucker.Wherein, " fixation " can be managed
To be directly or indirectly integrally formed, the two will not relatively move solution.
The negative pressure component 34 further includes the fixed fixed bracket 346 of the relatively described clean robot 100, passes through axis
Hold and 347 be rotatably sleeved on the runing rest 348 in 346 outside of the fixed bracket, with the runing rest 348 far from described
The second driving wheel 343 that the side of fixed bracket 346 is mutually fixed to drive the runing rest 348 to rotate.The runing rest
There is the fixing piece 3481 protruded into second driving wheel 343 on 348, have on second driving wheel 343 for receiving
Hold the fixation hole 3431 of the fixing piece 3481.The ratio of first driving wheel 321 and the linear velocity of second driving wheel 343
Example ρ1Equal to the ratio ρ of the perimeter of the length and the second driving wheel 343 of the crawler belt 312, so that the out splice going splice 342 with
33 synchronous rotary of crawler belt sucker.
Specifically, the fixed bracket 346 has hollow portion, and the negative pressure source 341 is located in the hollow portion and can phase
For the fixation holder pivots.It is equipped on the runing rest 348 and second driving wheel 343 for the out splice going splice
342 perforation 349 passed through, it is described defeated when the negative pressure source 341 is located in the runing rest 348 and the fixed bracket 346
Connector 342 is located in the perforation 349 out.When first driving wheel 321 drives the crawler belt 31 to rotate, the nebenkern is logical
The transmission of synchronous belt 344 is crossed so that second driving wheel 343 and the runing rest 348 rotate synchronously, while driving with second
Driving wheel 343 and/or the relatively-stationary out splice going splice 342 of runing rest 348 and the negative pressure source 341 also realize synchronous rotation
Turn.
The negative pressure component 34 may include multiple out splice going splices 342, at this time the runing rest 348 and described second
The multiple and described perforation 349 correspondingly of out splice going splice 342 is equipped on driving wheel 343, each 349 interval of perforation is arranged,
It is preferred that symmetrical.
In the present embodiment, the negative pressure source 341 obtains power supply by wireless power mode；Or by being equipped in institute
The brush and slip ring stated on negative pressure source 341 and the fixed bracket 346 obtain power supply.The out splice going splice 342 and the negative pressure
Source 341 is directly fixed, is not necessarily to other air circuit connections, can avoid the problem of poor air-tightness occur and reduce power consumption.
Embodiment two, the negative pressure component 34 further include for being rotatablely connected the out splice going splice 342 and the negative pressure source
341 rotary joint 340, the negative pressure source 341 is fixed, the out splice going splice 342 rotation synchronous with the crawler belt sucker 33
Turn.
The rotary joint 340 includes hollow sleeve 34a for connecting with the negative pressure source 341, by bearing 34b
It is connected to the gas circuit of rotating body 34c in the sleeve 34a, the connection out splice going splice 342 and the negative pressure source 341.Institute
It is indirectly solid directly or by other structures part with the rotating body 34c phase to state out splice going splice and second driving wheel 343
It is fixed；" fixation " can be understood as directly or indirectly being integrally formed, and the two will not relatively move.
Specifically, the rotary joint 340 further includes the housing 34d fixed with the rotating body 34c phase, positioned at described
Bearing 34j and the housing 34d between housing 34d and the sleeve 34a is mutually solid away from the side of the rotating body 34c
Fixed the second driving wheel (not shown).
The gas circuit include be opened on the sleeve 34a and radially through the sleeve 34a blow vent 34e,
Set on the rotating body 34c outer peripheral surface and matched with the blow vent 34e annular gas tank 34f, in the rotation lead
The pipeline of the annular gas tank 34f and the out splice going splice 342 are connected to inside body 34c.The pipeline is included in the rotation master
Inside body 34c it is axially extending along its and be connected to the out splice going splice 342 tracheae 34h, radially connect along the rotating body 34c
Lead to the communicating pipe 34g of the annular gas tank 34f Yu the tracheae 34h.
The relatively described negative pressure source 341 of the sleeve 34a is fixed, and the blow vent 34e is multiple defeated with the negative pressure source 341
It docks one by one outlet.When the rotating body 34c is rotated relative to the sleeve 34a, the blow vent 34e always with the annular
Air drain 34f connection, in order to guarantee air-tightness, the rotary joint 340 further includes being located at the rotating body 34c and the sleeve
For sealing the sealing shroud 34i of the annular gas tank 34f between 34a.The blow vent 34e is connect with the negative pressure source 341, gas
The negative pressure source 341 is connected to by road with the out splice going splice 342.
The side of the rotating body 34c towards the housing 34d are fixed with 342 phase of out splice going splice, and the cover
There is the perforation passed through for the out splice going splice 342 on shell 34d.First driving wheel 321 and second driving wheel 343
The ratio ρ of linear velocity1Equal to the ratio ρ of the perimeter of the length and the second driving wheel 343 of the crawler belt 312, so that the output
Connector 342 and 33 synchronous rotary of crawler belt sucker.When the driving mechanism 32 drives the crawler belt 31 to rotate, nebenkern passes through
The transmission of synchronous belt 344 drives second driving wheel and the housing 34d to rotate synchronously in turn, and the housing 34d drives institute
State out splice going splice 342 and the rotating body 34c with 33 synchronous rotary of crawler belt sucker.
Further, the negative pressure component 34 may include multiple out splice going splices 342, at this point, the rotary joint 340
In be equipped with it is multiple with the one-to-one gas circuit of the out splice going splice 342.The blow vent 34e of different gas circuits is along the sleeve 34a axis
To being spaced apart, the annular gas tank 34f of different gas circuits is distributed along the axially spaced-apart of the rotating body 34c and adjacent annular air drain
Spaced walls between 34f are sealed with the sleeve 34a by sealing shroud 34i, and the tracheae 34h of different gas circuits is located side by side at the rotation
Turn in main body 34c and corresponding with arrangement of the out splice going splice 342 on the rotating body 34c.
The negative pressure component 34 is provided to multiple crawler belt suckers 33 there are many forms of negative pressure: when using a negative pressure
When source 341 provides the mode of negative pressure to whole crawler belt suckers 33 simultaneously, when one of 33 pressure release of crawler belt sucker, it will affect entire
The vacuum degree of crawler belt sucker 33 and cause clean robot 100 that can not be adsorbed on wall surface, the walking module 3 can not work.
When each crawler belt sucker 33 provides negative pressure using independent negative pressure source 341, higher cost.
In the present invention, the crawler belt sucker 33 is grouped, is set between every group of crawler belt sucker 33 and the negative pressure source 341
There is independent gas circuit, the negative pressure source 341 is that every group of crawler belt sucker 33 provides independent negative pressure by the independent gas circuit.
It is as follows that the crawler belt sucker 33 is grouped situation: the clean robot 100 in the process of walking, is in simultaneously
The crawler belt sucker 33 of working region is no less than M, M >=2；The crawler belt sucker 33 is divided into N group, M >=N >=2.
When crawler belt 31 turns to any position, multiple crawler belt suckers 33 in working region belong at least two
Different groups；Alternatively, at least there are two belong to different groups in the crawler belt sucker 33 in working region simultaneously.Therefore, exist
One group of crawler belt sucker 33 can not normal sorption when the heart walks table general work, nor affect on the operation of entire walking module 3.
The arrangement mode of N group crawler belt sucker 33 is more, and the number for belonging to same group of 33 arranged adjacent of crawler belt sucker is small
In the total number of the crawler belt sucker 33 simultaneously in working region, other crawler belt suckers 33 for being now in working region belong to
The operation of walking module 3 is not influenced when one group of crawler belt sucker 33 can not work in other groups.
The arrangement number for belonging to the crawler belt sucker 33 between same group of the adjacent crawler belt sucker 33 is less than together
When the crawler belt sucker 33 in the working region total number.
When the total number of each group of crawler belt sucker 33 is less than while being in the number of the crawler belt sucker 33 of working region, often
One group of crawler belt sucker 33 can whole arranged adjacents, multiple groups crawler belt sucker 33 is intervally arranged at this time, the arrangement mode that can refer to are as follows:
All first group of crawler belt sucker 33 ..., whole N group crawler belt suckers 33.In this case, same group of crawler belt sucker 33 is provided
345 tunnel of the connecting tube design of negative pressure is relatively simple.Certainly, each group of crawler belt sucker 33 can also be divided by other group of crawler belt sucker 33
Arrangement is separated, arrangement mode is no longer exhaustive.
When the total number of each group of crawler belt sucker 33 is greater than while being in the number of the crawler belt sucker 33 of working region, together
The number of one group of 33 arranged end of crawler belt sucker is less than the number of the crawler belt sucker 33 in working region；It just can guarantee simultaneously
Multiple crawler belt suckers 33 in working region belong at least two groups.
Preferably, two crawler belt suckers 33 of arbitrary neighborhood belong to different groups, have compared two neighboring crawler belt sucker 33
Belong to same group of embodiment, even if wherein one group of crawler belt sucker 33 is when something goes wrong, before and after two crawler belt suckers 33 still
It is so in working region, can guarantee adsorption effect well.
Further, in the embodiment with N >=3, two crawler belt suckers of preferably each 33 front and back of crawler belt sucker
33 belong to different groups, therefore when any one crawler belt sucker 33 of the front and back of the crawler belt sucker 33 can not work, another
A adjacent crawler belt sucker 33 is worked at the same time with the crawler belt sucker 33, can avoid due to total adsorption capacity of local walkway surface reduces
Adsorb unstable problem.
In addition, if regarding several crawler belt suckers 33 of the arranged end on crawler belt 31 as a circulation group, each circulation
The selection of crawler belt sucker 33 in group and arrangement mode are selected from any one of the above arrangement mode, or meet above-mentioned arrangement limit
It is fixed, it is repeated no more in this.The arrangement mode of crawler belt sucker 33 in two neighboring circulation group is identical or different.
Such as Fig. 3, for the present embodiment by taking 4 groups of crawler belt suckers 33 as an example, the negative pressure component 34 has 4 out splice going splices
342, each out splice going splice 342 is connected to by independent connecting tube 345 with wherein one group of crawler belt sucker 33.Also, have
In the embodiment of rotary joint 340, the rotary joint has 4 independent gas circuits, passes through 4 blow vent 34e and negative pressure source
341 connections.
Number 1,2,3,4 close to the crawler belt sucker 33 represents grouping, arrangement mode are as follows: the 1st group of crawler belt sucker 33,
2nd group of crawler belt sucker 33, the 3rd group of crawler belt sucker 33, the 4th group of crawler belt sucker 33, the 1st group of crawler belt sucker 33, the 2nd group of crawler belt sucker
33, the 3rd group of crawler belt sucker 33, the 4th group of crawler belt sucker 33 ....It is adjacent with adjacent 4 crawler belt suckers 33 for a circulation group
The arrangement mode of 4 groups of crawler belt suckers 33 is identical in two circulation groups.
Multiple crawler belt suckers 33 are in working region simultaneously, even if one of crawler belt sucker 33 loses adsorption function, clearly
Clean robot 100 will not fall down；Therefore there are the wall surfaces point for when gap, defining gap two sides for convenience on wall surface
Not Wei the first wall surface, the second wall surface, the crawler belt sucker 33 positioned at gap location can not be adsorbed, but adjacent thereto other
Crawler belt sucker 33 still can be adsorbed on wall surface, so as to advance from the first wall surface across gap to the second wall surface.That is institute
State walking module 3 can cross over two neighboring wall surface side by side gap, such as the clean robot 100 can cross over it is adjacent
The gap of two solar panels and run to another solar panel from a solar panel.
Specifically, the clean robot 100 is from the first wall surface to the second wall surface traveling process, in working region
Pressure release when forward crawler belt sucker 33 is in gap location in multiple crawler belt suckers 33, therefore do not play suction-operated；Positioned at rear side
Other group crawler belt suckers 33 clean robot 100 is adsorbed on the first wall surface；Advance to the crawler belt of front side
Sucker 33 is located on the second wall surface and is adsorbed on the second wall surface, and 33 pressure release of crawler belt sucker positioned at gap location does not play absorption and makees
With, and other crawler belt suckers 33 organized still are adsorbed on the first wall surface positioned at rear side；It advances in working region
Whole crawler belt suckers 33 are located on the second wall surface, and clean robot 100 completes the leap from the first wall surface to the second wall surface.
In 100 walking process of clean robot, multiple 33 alternating sorbents of crawler belt sucker above crawler belt 31 are in working surface；
When the crawler belt sucker 33 is converted by working region to non-active area, it could be separated with wall surface by pressure release.
In the present embodiment, the walking module 3 further includes being connected between the negative pressure source 341 and the crawler belt sucker 33
Pressure valve 35, the pressure valve 35 is fixed on the crawler belt 31, can be connected to the crawler belt sucker 33 and the negative pressure
Source 341 provides negative pressure to the crawler belt sucker 33 and can be connected to the crawler belt sucker 33 and atmosphere to realize pressure release.
Pressure valve 35 of the invention includes hollow and has the valve body 351 being open, is inserted into the valve body from the opening
And can by the drivingly piston rod 353 of inside and outside pull, be sheathed on it is close on the partial piston bar 353 being always positioned in valve body 351
Seal 354, sealing element 358 and the lid 352 to cover the opening.The lid 352, which is equipped with, supplies the piston rod
353 apertures passed through, the sealing ring 354 and sealing element 358 and 351 inner wall of valve body sealing cooperate.
The piston rod 353 is equipped with fixed along the first positioning region of the piston rod 353 being radially-inwardly recessed and second
Position portion, the sealing element 358 are arranged in first positioning region, and the sealing ring 354 is arranged in the second positioning region.
It is logical that the first through hole 3511 through the valve body 351, the second through-hole 3512 and third are offered on the valve body 351
Hole 3513.First through hole 3511, the second through-hole 3512 and third through-hole 3513 are respectively used to be communicated with the atmosphere, bear with offer is needed
The work package connection of pressure is connected to the negative pressure component for providing negative pressure, to be needed the work package of negative pressure to release stress.For convenience
Description is described in detail below with reference to the application of pressure valve 35 of the invention in clean robot 100.Wherein, first through hole
3511, the second through-hole 3512 and third through-hole 3513 according to its purposes be referred to as respectively the big vent hole 3511 being communicated with the atmosphere,
Sucker connector 3512 for being connected to crawler belt sucker 33, the negative pressure connector 3513 for being connected to negative pressure component 34.Certainly, exist
In other embodiments, the first through hole 3511 can be connected to negative pressure component 34, and third through-hole 3513 can connect with atmosphere
It is logical.
The pressure valve 35 has first state and the second state, described close when the pressure valve 35 is in first state
At least partly structure of seal 354 between the first through hole 3511 and the second through-hole 3512, second through-hole 3512 with
The third through-hole 3513 is connected to, and when the pressure valve 35 is in the second state, at least partly structure of sealing ring 354 is located at
Between second through-hole 3512 and third through-hole 3513, the first through hole 3511 is connected to second through-hole 3512.This
In embodiment, first state corresponds to non-pressure release state, and the second state corresponds to pressure release state；If the first through hole 3511 can be with
Negative pressure component 34 is connected to, and third through-hole 3513 can be communicated with the atmosphere, then first state corresponds to pressure release state, the second state pair
Answer non-pressure release state.When the pressure valve 35 switches between first state, the second state and first state and the second state,
The sealing ring 354 blocks first through hole 3511 and third through-hole 3513 always；It also will be understood that are as follows: along the piston rod 353
The height of the sealing ring 354 is mobile in the piston rod 353 not less than the width of second through-hole 3512 on moving direction
Height on direction.
In the present embodiment, the big vent hole 3511 is set to opposite with the lid 352 one on the valve body 351
Side, the sucker connector 3512 are set to the valve body along the moving direction of the piston rod 353 with the negative pressure connector 3513
351 middle position.In addition, the valve body 351 is fixed with the lid 352 by screw；Also have in the pressure valve 35
There is the screw hole for being fixed on the valve body 351 on the crawler belt 31.
In the present embodiment, the pressure valve 35 may include the pushing mechanism 355 for driving 353 pull of piston rod.In
In other embodiments, when the pressure valve 35 does not include pushing mechanism 355, then need that driving assembly is arranged, by the drive
Pull inside and outside piston rod 353 described in the outer power drive of dynamic component.
After the piston rod 353 is pushed into the valve body 351 by the pushing mechanism 355 or external force, the sealing ring 354
Between the big vent hole 3511 and the sucker connector 3512, the sucker connector 3512 and the negative pressure connector 3513
Connection, the pressure valve 35 are in non-pressure release state.The piston rod 353 is pulled out by the pushing mechanism 355 or external force
When the valve body 351, the sealing ring 354 is mobile to the direction far from the big vent hole 3511, and the sealing ring 354 is completely
The sucker connector 3512 is covered, the sucker connector 3512 and the negative pressure connector 3513, the big vent hole 3511 are disconnected
It opens so that the crawler belt sucker 33 keeps temporary negative pressure.The piston rod 353 is drivingly continued to exit the valve body 351,
For at least partly structure of the sealing ring 354 between the sucker connector 3512 and negative pressure connector 3513, the atmosphere is logical
Hole 3511 is connected to the sucker connector 3512 realizes pressure release, and the pressure valve 35 is in pressure release state, at this time the piston rod
353, not by outer power drive, are in free state.The pressure valve 35 is by the setting of the sealing ring 354, in the process of pressure release
In, it ensure that and keep blocking between big vent hole 3512 and negative pressure connector 3513, simultaneously effective using temporary existing for sucker
Negative pressure, pressure leak process is slow, shakes small.
Preferably, when the sealing ring 354 loses driving force reinstatement state, the sealing ring 354 is entirely located in described
Sealing effect between sucker connector 3512 and negative pressure connector 3513, between the negative pressure connector 3513 and the big vent hole 3511
More preferably, the negative pressure connector 3513 can guarantee effective negative pressure to fruit；To be again at work in corresponding crawler belt sucker 33
When region, negative pressure component 34 is not necessarily to compensate the negative pressure in connecting tube 345, reduces energy consumption to a certain extent.
The sealing ring 354 includes being distributed in the partial piston in valve body 351 along 353 axially spaced-apart of piston rod
The first sealing ring 3541 and the second sealing ring 3542 on bar 353, first sealing ring 3541 are located at second sealing ring
Between 3542 and the opening.The height of the sealing ring 354 along 353 moving direction of piston rod being mentioned above is being set
It sets in the embodiment of the first sealing ring 3541 and the second sealing ring 3542 and refers to: first sealing ring 3541 and described second
The distance between two sides that sealing ring 3542 is located remotely from each other not less than the sucker connector 3512 and the negative pressure connector 3513 it
Between distance, and first sealing ring 3541 and second sealing ring 3542 with the valve body 351 seal cooperate.Separately
Outside, the setting of sealing ring 354 of the invention is not limited thereto, and in other embodiments, such as sealing ring 354 can be list
An a monolith sealing ring 354, as long as can guarantee the process switched between the first state and a second state in pressure valve 35
In, the sealing ring 354 stops first through hole 3511 and the second logical 3512 holes always, so effectively guarantees big vent hole
It is blocked between 3512 and negative pressure connector 3513, and using temporary negative pressure existing for the crawler belt sucker 33, pressure leak process is slow,
It shakes small；And the negative pressure source 341 will not be made to be connected to atmosphere and influence and provide negative pressure to other crawler belt suckers 33.
When the piston rod 353 is pushed into the valve body 351 by the pushing mechanism 355 or external force, first sealing
Circle 3541 and second sealing ring 3542 are between the big vent hole 3511 and the sucker connector 3512, the sucker
Connector 3512 is connected to the negative pressure connector 3513.When the outside force of the piston rod 353 is eliminated, 353 quilt of piston rod
During the pushing mechanism 355 or external force pull out the valve body 351, first sealing ring 3541 and described second
Sealing ring 3542 is mobile to the direction far from the big vent hole 3511, and first sealing ring 3541 is located at the sucker and connects
Between first 3512 and the negative pressure connector 3513, second sealing ring 3542 be located at the sucker connector 3512 and the atmosphere
When between through-hole 3511, the sucker connector 3512 disconnected with the negative pressure connector 3513, the big vent hole 3511 so that
The crawler belt sucker 33 keeps temporary negative pressure.The piston rod 353 is drivingly continued to exit the valve body 351, and described
Two sealing rings 3542 are between the sucker connector 3512 and negative pressure connector 3513, the big vent hole 3511 and the sucker
Pressure release is realized in the connection of connector 3512.The pressure valve 35 is set by the first sealing ring 3541 and second sealing ring 3542
It sets, during pressure release, guarantees to block between big vent hole 3512 and negative pressure connector 3513, and effectively utilize the shoe
Temporary negative pressure existing for band sucker 33, pressure leak process is slow, shakes small.
Preferably, when second sealing ring 3542 is between the sucker connector 3512 and negative pressure connector 3513, institute
It states the first sealing ring 3541 also to be located between the sucker connector 3512 and negative pressure connector 3513, the negative pressure connector 3513 and institute
It states sealing effect between big vent hole 3511 more preferably, can guarantee effective negative pressure at the negative pressure connector 3513；Thus
When corresponding crawler belt sucker 33 is again positioned at working region, negative pressure component 34 is not necessarily to compensate the negative pressure in connecting tube 345, certain
Energy consumption is reduced in degree.
In the present embodiment, the pressure valve 35 further includes being fixed on the piston rod 353 by modes such as screws to be located at institute
The rolling bearing 356 on the part in 351 outside of valve body is stated, the rolling bearing 356 is solid by screw with the piston rod 353
It is fixed.The walking module 3 further includes set on guide rail crawler belt 31 inside and extended along the front-rear direction of its linear movement
357, the guide rail 357 have positioned at its bottom horizontal plane 3571, from 3571 front end of horizontal plane upwards and extend forward
The inclined-plane 3572 that leans forward, from 3571 rear end of horizontal plane upwards and the hypsokinesis inclined-plane 3573 that extends back.The pressure valve 35
It is fixed on the crawler belt 31, and the rolling bearing 356 is protruded out towards inside, in 31 rotation process of crawler belt, when the crawler belt
When sucker 33 is moved to the downside of the walking module 3, the rolling bearing 356 is along the inclined-plane 3572, horizontal plane of leaning forward
3571, hypsokinesis inclined-plane 3573 rolls simultaneously its pressure.The pushing mechanism 355 include the guide rail 357, be ordinatedly set to it is described
Resetting-mechanism 359 between valve body 351 and/or the lid 352 and the piston rod 353.
For moving forward, the crawler belt sucker 33 in non-active area is moved to and the inclined-plane 3572 that leans forward
When at corresponding position, the inclined-plane 3572 that leans forward pushes the rolling bearing 356 gradually into valve body 351 gradually described in push-in
Piston rod 353, when the rolling bearing 356 is contacted with the horizontal plane 3571, the piston rod 353 is pushed into the valve body
Degree in 351 reaches maximum, and the valve body 351 is in non-pressure release state, the negative pressure connector 3513 and the sucker at this time
Connector 3512 is connected to, which is in working region.Crawler belt 31 continues to rotate, the rolling bearing 356 be moved to
The hypsokinesis inclined-plane 3573 is gradually reduced the pressure that piston rod 353 described when corresponding to receives, and the piston rod 353 is resetting
It is gradually backed out the valve body 351 to the pressure valve 35 under the action of mechanism 359 and is in pressure release state, shoe corresponding at this time
Band sucker 33 is also converted by working region to non-active area.
The resetting-mechanism 359 is the spring 359 being set between the valve body 351 and the piston rod 353, specifically
The spring 359 is set between the valve body 351 and the opposite side and the piston rod 353 of lid 352.The piston rod
When 353 pressure for receiving the guide rail 357 are pushed into the valve body 351, the spring 359 is compressed；And described 357 pairs of institutes of guide rail
When stating the pressure elimination of piston rod 353, the spring 359 resets while the piston rod 353 being pushed to move to outside the valve body 351
It is dynamic.
If not set pushing mechanism 355 and driving assembly is set, the driving component offsets with the piston rod, to
Drive pull inside and outside the piston rod.The driving component can be motor, can by the pull of piston rod 353 described in motor control
To realize the speed that automatically resets.
The sealing element 358 is arranged close to the opening.In the present embodiment, the sealing element 358 is sheathed on the piston
On bar 353, the sealing element 358 is arranged in the draw process of the piston rod 353, lets out even if pressure valve 35 is in non-
When pressure condition, the sealing element 358 is in communication with the outside caused gas leakage prevented also from the third through-hole 3513.Certainly, if
Three through-holes 3513 can also then omit the sealing element 358 to be connected to atmosphere.
It cooperates between the modules of the clean robot 100, work can also be split independently to be applied to
Other products.The especially described walking module 3 and the cooperation of the adsorption module 4 are particularly important.In the present embodiment, machine is cleaned
When 100 straight line of people is walked, the main sucker 42 does not work, and walking module 3 works, and is handed over by crawler belt suckers 33 multiple on crawler belt 31
For being adsorbed in working surface；When clean robot 100 turns to, crawler belt sucker 33 does not work, and main sucker 42 is adsorbed in worksheet
Face, crawler belt 31 provide steering power, and entire clean robot 100 is driven to be rotated relative to main sucker 42 to turn to.
Structure in above-mentioned adsorption module 4 and walking module 3 optionally uses, to reach the clean robot
The requirement of 100 work.When it is only necessary to realize steering, the walking module 3 includes a pair of of the crawler belt 31 being oppositely arranged, drives
Move the driving mechanism 32 that the crawler belt 31 rotates；The adsorption module 4 includes the main suction for being connected to the clean robot bottom
Disk 42 provides the vacuum source 41 of negative pressure to the main sucker 42；The clean robot 100 connects with the main rotation of sucker 42
It connects；When clean robot 100 need to be turned to side, the control module 6 starts the adsorption module 4 and mentions to the main sucker 42
For negative pressure；The control module 6 starts the walking module 3, moves back it close to the crawler belt 31 of side to be diverted
Dynamic, the crawler belt 31 far from side to be diverted moves forward；It is not necessary that steering mechanism is additionally arranged, only pass through driving mechanism 32
Driving a pair of of crawler belt 31 to move backward forward can be realized steering, and control mode is simple.Preferably, the mobile speed of a pair of of crawler belt 31
Spend it is identical, turn to it is safer.It should be noted that clean robot 100 is rotated relative to main sucker 42 due in steering procedure,
Therefore crawler belt 31 move forward or move backward and non-rectilinear forward or backward.
Further, the adsorption module 4 further includes driving the main sucker 42 far from the clean robot 100 to inhale
It invests wall surface or is detached from the up-down drive device 7 of the wall surface close to the clean robot 100.Clean robot 100 needs
When steering, the control module 6 starts the adsorption module 4 and makes the main sucker 42 far from 100 bottom of clean robot
Portion and compress wall surface, afterwards to main sucker 42 provide negative pressure；When clean robot 100 is kept straight on, the control module 6 controls drive up and down
Dynamic device 7 makes the main sucker 42 close to 100 bottom of clean robot, separates with wall surface, reduces friction or prevents from leading
Sucker 42 is worn.
In addition, clean robot 100 needs when the adsorption module 4 further includes the relief valve to main 42 pressure release of sucker
When straight trip, the control module 6 controls the adsorption module 4 to main 42 pressure release of sucker, reduces friction.
When the walking module includes multiple crawler belt suckers that track outer surface is arranged in, gives crawler belt sucker offer negative pressure
Negative pressure component and to the crawler belt sucker pressure release pressure valve 35 when, operating mode are as follows: clean robot 100 needs to turn to
When, the control module 6 drives the adsorption module 4, and the up-down drive device 7 drives main sucker 42 to move down and by institute
Clean robot 100 to be stated to be adsorbed on wall surface, crawler belt sucker 33 stops working, and a pair of of crawler belt 31 respectively forwardly, successively moves,
So that fuselage 2 is rotated towards 31 side of crawler belt of back rotation.Steering mechanism is arranged without additional in this walking manner,
Only driving a pair of of crawler belt 31 to move backward forward by driving mechanism 32 can be realized steering, and control mode is simple.Also, it is described
Fuselage 2 does not break away around main 42 stable rotation of sucker；In addition, stopping providing negative pressure to the crawler belt sucker 33 when rotation, subtract
Friction when small rotation between crawler belt sucker 33 and wall surface, reduces loss, increases the service life.
Such as it is shown in Fig. 2 the crawler belt 31 in left side rotates backward when needing to turn to the left, the crawler belt 31 of right shoe is to forward
It is dynamic, it rotates fuselage 2 around sucker module, on the work surface due to the absorption of sucker module, makes 2 stable rotation of fuselage, Bu Huifa
It is raw to break away.When needing to turn right, on the contrary, right turn movements can be completed when the moving direction of a pair of of crawler belt 31 and left-hand rotation.
Specifically, the rotating direction control method of clean robot 100 of the invention, includes the following steps:
S10The control module 6 starts the up-down drive device 7 and makes the main sucker 42 far from the cleaning machine
The bottom of people 100 and compress surface to be cleaned；
S1: control module 6 starts the adsorption module 4 and provides negative pressure to the main sucker 42, and the main sucker 42 provides
Adsorption capacity makes clean robot 100 be adsorbed in surface to be cleaned；
S20: the control module 6 starts the pressure release component to 33 pressure release of crawler belt sucker；
S2: the control module 6 starts the walking module 3, and the crawler belt 31 close to side to be diverted moves back
Dynamic, the crawler belt 31 far from side to be diverted moves forward；
S3: the control module 6 controls the negative pressure component 34 and provides negative pressure to the crawler belt sucker 33, and described in control
Relief valve gives main 42 pressure release of sucker.At this point, crawler belt sucker 33 has been adsorbed in working surface, clean robot is subsequent changeable
To straight trip motion state.
The present invention also provides a kind of progress control methods of clean robot 100, include the following steps:
It is adsorbed in surface to be cleaned using main sucker 42, crawler belt sucker 33 is in non-adsorbed state, and walking module 3 drives institute
The body for stating clean robot 100 is rotated relative to main sucker 42, completes the steering of the clean robot 100；It completes to turn to
Specific method refer to clean robot 100 rotating direction control method, repeated no more in this；
It is adsorbed in clean surface using crawler belt sucker 33, main sucker 42 is in non-adsorbed state, passes through crawler belt sucker 33
Alternating sorbent completes the straight trip of the clean robot 100.
In conclusion clean robot 100 of the invention can be used for cleaning various wall surfaces, even the sun being intervally arranged
Energy solar panel, or glass/curtain wall with frame, the clean robot 100 can also be in two adjacent solar batteries
Plate, glass are crossed between curtain wall, without artificial mobile.
The above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to preferred embodiment to this hair
It is bright to be described in detail, those skilled in the art should understand that, it can modify to technical solution of the present invention
Or equivalent replacement, without departing from the spirit and scope of the technical solution of the present invention.
Claims (12)
1. a kind of clean robot, including adsorption module, walking module, communicate with the adsorption module and the walking module
The control module of connection, the walking module include the driving mechanism of a pair of of the crawler belt being oppositely arranged, the driving crawler belt rotation；
The adsorption module includes the main sucker for being connected to the clean robot bottom, to the vacuum of the main sucker offer negative pressure
Source；It is characterized by: the clean robot and the main sucker are rotatablely connected；The clean robot need to be turned to side
When, the control module starts the adsorption module and provides negative pressure to the main sucker；The control module starts the walking
Module, the crawler belt close to side to be diverted move backward, and the crawler belt far from side to be diverted moves forward.
2. clean robot according to claim 1, it is characterised in that: when the clean robot turns to, described in a pair
The movement speed of crawler belt is identical.
3. clean robot according to claim 1, it is characterised in that: the adsorption module further includes and the control mould
Block communication connection cleans machine to drive the main sucker separate or up-down drive device close to the clean robot bottom
Before people turns to, the control module starts the up-down drive device and the main sucker is pressed far from the clean robot
To surface to be cleaned.
4. clean robot according to claim 3, it is characterised in that: the adsorption module further includes to the main sucker
The relief valve of pressure release, when clean robot need to keep straight on, the control module controls the relief valve to the main sucker pressure release.
5. clean robot according to claim 4, it is characterised in that: the walking module further includes being arranged outside crawler belt
Multiple crawler belt suckers on surface provide the negative pressure component of negative pressure to crawler belt sucker and to the pressure release group of the crawler belt sucker pressure release
Part；When clean robot need to turn to, the control module starts the pressure release component to the crawler belt sucker pressure release；Clean machine
When people need to keep straight on, the control module controls the relief valve to the main sucker pressure release, and controls the negative pressure component to institute
It states crawler belt sucker and negative pressure is provided.
6. clean robot according to claim 1, it is characterised in that: the walking module further includes being arranged outside crawler belt
Multiple crawler belt suckers on surface provide the negative pressure component of negative pressure to crawler belt sucker, and the crawler belt has so that the crawler belt sucker
Working region towards surface to be cleaned and the crawler belt sucker is made to leave the non-active area on surface to be cleaned, the negative pressure
Component includes the connecting tube of negative pressure source, the connection negative pressure source and the crawler belt sucker；In the walking module walking process,
The crawler belt sucker in working region is no less than M simultaneously, M >=2；The crawler belt sucker includes N group, M >=N >=2；Every group
Crawler belt sucker in crawler belt sucker is connected, and the connecting tube connecting with every group of crawler belt sucker is connected to independent negative pressure source, simultaneously
The crawler belt sucker in working region belongs at least two different groups.
7. clean robot according to claim 6, it is characterised in that: the arbitrary neighborhood two crawler belt suckers belong to
Different groups.
8. a kind of rotating direction control method of clean robot, provides clean robot as described in claim 1, feature exists
In the rotating direction control method of the clean robot includes the following steps:
S1: control module starts the adsorption module and provides negative pressure to the main sucker, and the main sucker provides adsorption capacity and makes
Robot is adsorbed in surface to be cleaned；
S2: the control module starts the walking module, and the crawler belt close to side to be diverted moves backward, far to
The crawler belt of the side of steering moves forward.
9. rotating direction control method as claimed in claim 8, the adsorption module further include and the control module communication connection
To drive the main sucker separate or up-down drive device close to the clean robot bottom, it is characterised in that: step S1
Before further include step S10:
The control module start the up-down drive device make the main sucker compressed far from the clean robot to
The operating position of clean surface, then the control module starts the adsorption module to the main sucker offer negative pressure.
10. rotating direction control method as claimed in claim 8, the adsorption module further include and the control module communication connection
To drive the up-down drive device of the separate or close clean robot bottom of the main sucker, the adsorption module further includes
To the relief valve of the main sucker pressure release, the walking module further include multiple crawler belt suckers that track outer surface is set, to
Crawler belt sucker provides the negative pressure component of negative pressure and the pressure release component to the crawler belt sucker pressure release, it is characterised in that: step S1
It further include step S2 between step S20:
The control module starts the pressure release component to the crawler belt sucker pressure release.
11. rotating direction control method as claimed in claim 8, the adsorption module further include and the control module communication connection
To drive the up-down drive device of the separate or close clean robot bottom of the main sucker, the adsorption module further includes
To the relief valve of the main sucker pressure release, the walking module further include multiple crawler belt suckers that track outer surface is set, to
Crawler belt sucker provides the negative pressure component of negative pressure and the pressure release component to the crawler belt sucker pressure release, it is characterised in that: step S2
After further include step S3:
The control module controls the negative pressure component and provides negative pressure to the crawler belt sucker, and controls the relief valve to described
Main sucker pressure release.
12. a kind of progress control method of clean robot, the clean robot includes adsorption module and walking module, described
Adsorption module includes the main sucker for being connected to the clean robot bottom, to the vacuum source of the main sucker offer negative pressure, institute
Stating walking module includes a pair of of the crawler belt being oppositely arranged, the driving mechanism of the driving crawler belt rotation being arranged and in crawler belt appearance
Multiple crawler belt suckers in face, which is characterized in that the progress control method of the clean robot includes:
Using main sucker suction in surface to be cleaned, crawler belt sucker is in non-adsorbed state, and walking module drives the cleaner
Device human organism rotates relative to main sucker, completes the steering of clean robot；
Using crawler belt sucker suction in surface to be cleaned, main sucker is in non-adsorbed state, passes through the alternating sorbent of crawler belt sucker
Complete the straight trip of clean robot.
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| CN201810173944.7A CN110215164A (en) | 2018-03-02 | 2018-03-02 | The rotating direction control method and progress control method of clean robot, clean robot |
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| CN201810173944.7A CN110215164A (en) | 2018-03-02 | 2018-03-02 | The rotating direction control method and progress control method of clean robot, clean robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110882971A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with distributed adsorption assembly |
| CN112792827A (en) * | 2021-02-24 | 2021-05-14 | 杭州图灵视频科技有限公司 | Electric power inspection robot |
| CN114275065A (en) * | 2022-01-28 | 2022-04-05 | 巢湖学院 | High-reliability adsorption type climbing robot and control method thereof |
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