CN110721953A

CN110721953A - Cleaning system based on wall climbing robot

Info

Publication number: CN110721953A
Application number: CN201911114142.XA
Authority: CN
Inventors: 高春艳; 王维鹏; 王洋; 张小俊
Original assignee: Hebei University of Technology
Current assignee: Hebei University of Technology
Priority date: 2019-11-14
Filing date: 2019-11-14
Publication date: 2020-01-24
Anticipated expiration: 2039-11-14
Also published as: CN110721953B

Abstract

The invention discloses a cleaning system based on a wall-climbing robot, which comprises: a wall climbing robot; the middle cleaning device is arranged on the wall-climbing robot and comprises a first roller assembly and a first driving piece which are connected; and the first side cleaning device and the second side cleaning device are arranged on the wall climbing robot at intervals along the first direction, the middle cleaning device is positioned between the first side cleaning device and the second side cleaning device in the first direction, the middle cleaning device is spaced from the first side cleaning device and the second side cleaning device in the second direction, the first direction is perpendicular to the second direction, and each of the first side cleaning device and the second side cleaning device comprises a second roller assembly and a second driving piece which are connected. The cleaning system has the advantages of large cleaning area, high cleaning efficiency, good cleaning effect and the like.

Description

Cleaning system based on wall climbing robot

Technical Field

The invention relates to a cleaning system based on a wall-climbing robot.

Background

The reaction kettle, the distillation tower, the tower drum of the wind driven generator and other devices are located outdoors. Especially, the tower drums of the wind driven generator are all built in the severe environment in the field and experience wind, sunshine and saline-alkali corrosion for a long time, so that the appearance is influenced, and the safety problem is more likely to be caused. Therefore, the apparatuses such as the reaction kettle, the distillation tower, and the tower drum of the wind driven generator need to be cleaned in time.

Disclosure of Invention

The invention aims to overcome the problems in the prior art and provide a cleaning system based on a wall-climbing robot.

In order to achieve the above object, the present invention provides a cleaning system based on a wall-climbing robot, comprising: a wall climbing robot; the middle cleaning device is arranged on the wall-climbing robot and comprises a first roller assembly and a first driving piece, and the first driving piece is connected with the first roller assembly so as to drive the first roller assembly to move between a first cleaning position capable of contacting the wall surface and a first separation position capable of separating from the wall surface; and a first side cleaning device and a second side cleaning device which are arranged on the wall-climbing robot at intervals along a first direction, the intermediate cleaning device is located between the first side cleaning device and the second side cleaning device in the first direction, the intermediate cleaning device is spaced apart from the first side cleaning device and the second side cleaning device in a second direction, the first direction is perpendicular to the second direction, each of the first side washing device and the second side washing device includes a second roller assembly and a second driving member, the second drive member is coupled to the second roller assembly for driving the second roller assembly between a second cleaning position in which the second roller assembly can contact the wall surface and a second disengaged position in which the second roller assembly can be disengaged from the wall surface.

The cleaning system provided by the embodiment of the invention has the advantages of large cleaning area and high cleaning efficiency.

Optionally, the wall-climbing robot comprises: the middle cleaning device is arranged on the body; and a first mounting section and a second mounting section, the body being located between the first mounting section and the second mounting section in the first direction, each of the first mounting section and the second mounting section being hinged to the body, the axis of rotation of each of the first mounting section and the second mounting section extending in the second direction, wherein the first side cleaning device is provided on the first mounting section and the second side cleaning device is provided on the second mounting section.

Optionally, the first roller assembly comprises: the first bracket is arranged on the body, and the first driving piece is arranged on the first bracket; a first mounting bracket, the first mounting bracket being hinged to the first support, the first driving member being coupled to the first mounting bracket for driving the first mounting bracket to rotate between the first cleaning position and the first disengaged position; and the first roller is rotatably arranged on the first mounting frame.

Optionally, the first driving member is a linear driver, the first driving member is hinged to the first bracket, and the first driving member is hinged to the first mounting bracket.

Optionally, the first bracket has a first protruding portion and a second protruding portion, the first mounting bracket has a first mounting portion and a second mounting portion, the first protruding portion and the second protruding portion are located between the first mounting portion and the second mounting portion, the first roller assembly further includes: the bolt penetrates through the first convex part, the second convex part, the first mounting part and the second mounting part, and a nut of the bolt abuts against the first mounting part; the nut is sleeved on the bolt and abuts against the second mounting part; the first copper sleeve is arranged between the first convex part and the bolt, and the shoulder part of the first copper sleeve is abutted against the first mounting part; and the second copper sleeve is arranged between the second convex part and the bolt, and the shoulder part of the second copper sleeve is abutted against the second mounting part.

Optionally, the first mounting bracket comprises: the main body is hinged to the first bracket, and the first driving piece is connected with the main body; a drum mount provided on the main body, the drum mount being perpendicular to the main body, the first drum being rotatably provided on the drum mount; a first support and a second support, the body being located between the first support and the second support in the first direction, a first end of each of the first support and the second support being connected to the body, and a second end of each of the first support and the second support being connected to the drum mount.

Optionally, the cylinder installed part has third installation department and fourth installation department, the third installation department with be equipped with first slotted hole in each of fourth installation department, first cylinder is installed through the primary shaft the third installation department with on the fourth installation department, wherein the cooperation of the first end of primary shaft is in the first slotted hole of third installation department, the cooperation of the second end of primary shaft is in the first slotted hole of fourth installation department.

Optionally, the second roller assembly comprises: the second bracket of the first side cleaning device is arranged on the first mounting piece, the second bracket of the second side cleaning device is arranged on the second mounting piece, and the second driving piece is arranged on the second bracket; a second mounting bracket, the second driving member being coupled to the second mounting bracket for driving the second mounting bracket to rotate between the second cleaning position and the second disengaged position; and the second roller is rotatably arranged on the second mounting frame.

Optionally, the second driving piece is a steering engine, the second mounting frame is provided with a fifth mounting part and a sixth mounting part, a second long round hole is formed in each of the fifth mounting part and the sixth mounting part, the second roller is mounted on the fifth mounting part and the sixth mounting part through a second shaft, a first end of the second shaft is matched in the second long round hole of the fifth mounting part, and a second end of the second shaft is matched in the second long round hole of the sixth mounting part.

Optionally, the middle cleaning apparatus further comprises a first spray member provided on the first drum assembly, each of the first side cleaning apparatus and the second side cleaning apparatus further comprises a second spray member provided on the second drum assembly, and the cleaning system further comprises: a container disposed on the body; and the pump is connected with the first spraying piece through a first pipeline, the pump is connected with the second spraying piece through a second pipeline, and the pump is connected with the container through a third pipeline.

Drawings

FIG. 1 is a schematic structural diagram of a cleaning system based on a wall-climbing robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a cleaning system based on a wall-climbing robot according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a cleaning system based on a wall-climbing robot according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an intermediate cleaning apparatus of a cleaning system based on a wall-climbing robot according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an intermediate cleaning apparatus of a cleaning system based on a wall-climbing robot according to an embodiment of the present invention;

FIG. 6 is a partial schematic structural view of an intermediate cleaning apparatus of a wall-climbing robot-based cleaning system according to an embodiment of the present invention;

FIG. 7 is a partial schematic structural view of an intermediate cleaning apparatus of a wall-climbing robot-based cleaning system according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a first side washing device (a second side washing device) of the wall-climbing robot-based washing system according to the embodiment of the present invention;

FIG. 9 is a state diagram of a use of a wall-climbing robot based cleaning system according to an embodiment of the present invention;

fig. 10 is a state diagram of the use of the wall-climbing robot-based washing system according to the embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and are not to be construed as limiting the present invention.

A cleaning system 100 based on the wall-climbing robot 2 according to an embodiment of the present invention is described below with reference to the accompanying drawings. As shown in fig. 1 to 10, a cleaning system 100 based on a wall-climbing robot 2 according to an embodiment of the present invention includes a wall-climbing robot 2, an intermediate cleaning device 1, a first side cleaning device 3, and a second side cleaning device 4.

The intermediate cleaning device 1 is provided on the wall-climbing robot 2. The intermediate cleaning apparatus 1 includes a first roller assembly 11 and a first drive member 12, the first drive member 12 being coupled to the first roller assembly 11 for driving the first roller assembly 11 between a first cleaning position in which it can contact the wall surface 200 and a first disengaged position in which it can be disengaged from the wall surface 200.

The first side washing device 3 and the second side washing device 4 are provided on the wall-climbing robot 2 at a spacing in a first direction in which the intermediate washing device 1 is located between the first side washing device 3 and the second side washing device 4. The middle cleaning device 1 is spaced apart from the first side cleaning device 3 and the second side cleaning device 4 in a second direction, the first direction being perpendicular to the second direction. In other words, the middle washing device 1 is spaced apart from the first side washing device 3 in the second direction, and the middle washing device 1 is spaced apart from the second side washing device 4 in the second direction.

Wherein each of the first side cleaning apparatus 3 and the second side cleaning apparatus 4 includes a second roller assembly 31 and a second driving member 32, the second driving member 32 being connected to the second roller assembly 31 to drive the second roller assembly 31 to move between a second cleaning position capable of contacting the wall surface 200 and a second disengaged position capable of disengaging the wall surface 200.

The operation of the wall-climbing robot 2-based cleaning system 100 (hereinafter simply referred to as cleaning system 100) according to an embodiment of the present invention will be briefly described with reference to fig. 1 to 10. When the wall surface 200 is cleaned by the cleaning system 100 (the wall surface 200 may be a wall surface of a reaction vessel, a distillation tower, a tower of a wind turbine generator, or the like), the wall-climbing robot 2 may be attached to the wall surface 200. The wall-climbing robot 2 may be attached to the wall surface 200 in a known manner (e.g., by magnets).

Subsequently, the wall-climbing robot 2 is moved to the portion of the wall surface 200 to be cleaned. Next, the first roller assembly 11 is moved to the first cleaning position by the first driving member 12, and the second roller assembly 31 is moved to the second cleaning position by the second driving member 32, so that the first roller assembly 11 and the second roller assembly 31 can contact the portion of the wall surface 200 to be cleaned. The portion of the wall surface 200 to be cleaned is cleaned using the first roller assembly 11 and the second roller assembly 31. After the cleaning is completed, the first roller assembly 11 is moved to the first disengaged position by the first driving member 12, and the second roller assembly 31 is moved to the second disengaged position by the second driving member 32, so that the cleaning system 100 is retracted by moving the wall-climbing robot 2.

Since the wall surface 200 is curved and the roller is hardly bent, the roller cannot be completely in contact with the wall surface 200, that is, a part of the roller is in contact with the wall surface 200. Thereby resulting in a smaller cleaning width and cleaning area of the drum.

The cleaning system 100 according to the embodiment of the present invention can make the intermediate cleaning device 1, the first side cleaning device 3, and the second side cleaning device 4 simultaneously contact the wall surface 200 by providing the intermediate cleaning device 1, the first side cleaning device 3, and the second side cleaning device 4 arranged in the first direction and spacing the intermediate cleaning device 1 from the first side cleaning device 3 and the second side cleaning device 4 in the second direction, so that the cleaning width and the cleaning area of the cleaning system 100 can be enlarged without interfering with each other.

Also, since the washing system 100 has a large washing width, the washing width of the washing system 100 may be greater than the width of the wall-climbing robot 2. This can prevent the wall-climbing robot 2 from contacting stains, and thus can prevent the cleaned part of the wall surface 200 from being contaminated by the wall-climbing robot 2, so that the cleaning efficiency and the cleaning effect can be improved.

The cleaning width of the cleaning system 100 is the cleaning dimension of the cleaning system 100 in the first direction; the width of the wall-climbing robot 2 is the dimension of the wall-climbing robot 2 in the first direction. For example, the cleaning width of the cleaning system 100 may be at least 1.5 times the width of the wall-climbing robot 2.

Therefore, the cleaning system 100 according to the embodiment of the invention has the advantages of large cleaning area, high cleaning efficiency, good cleaning effect and the like.

As shown in fig. 1-10, in some embodiments of the invention, the cleaning system 100 includes a wall-climbing robot 2, a middle cleaning device 1, a first side cleaning device 3, and a second side cleaning device 4.

The wall-climbing robot 2 includes a body 21, a first mount 22, and a second mount 23, the body 21 being located between the first mount 22 and the second mount 23 in the first direction. The intermediate cleaning device 1 is provided on the body 21, the first side cleaning device 3 is provided on the first mounting member 22, and the second side cleaning device 4 is provided on the second mounting member 23. The middle washing device 1, the first side washing device 3, and the second side washing device 4 can thereby be mounted more conveniently and more easily.

Optionally, each of the first and

second mounting elements

22, 23 is hinged on the body 21. For example, the first mounting member 22 may be pivotally provided on the body 21, and the second mounting member 23 may be pivotally provided on the body 21. The first and

second mounting elements

22, 23 and thus the first and second

side washing devices

3, 4 can be rotated thereby.

The axis of rotation of each of the first and

second mounting elements

22, 23 extends in this second direction. This allows the first side washer 3 and the second side washer 4 to rotate according to the curvature of the wall surface 200, thereby allowing the washing system 100 to wash wall surfaces 200 of various curvatures and portions of the same wall surface 200 having different curvatures (e.g., the top and bottom of the same wall surface 200).

For example, for a wind turbine tower, the curvature of the wall 200 at the bottom of the tower (as shown in FIG. 9) is less than the curvature of the wall 200 at the top of the tower (as shown in FIG. 10). When the wall surface 200 of the tower is cleaned using the cleaning system 100, the first and second mounting

members

22 and 23 are rotated (rotated) according to the change in curvature of the wall surface 200 of the tower so that the

second roller assemblies

31 and 31 of the first and second

side cleaning devices

3 and 4 can be always in contact with the wall surface 200.

Alternatively, the body 21 has a first side 211 and a second side 212 opposite in the first direction, the first mounting member 22 may be hinged on the first side 211 of the body 21, and the second mounting member 23 may be hinged on the second side 212 of the body 21.

As shown in fig. 3, the middle cleaning device 1 is located between the first side cleaning device 3 and the second side cleaning device 4 in the first direction. The intermediate cleaning device 1 is located between the first side cleaning device 3 and the second side cleaning device 4 in the first direction in a broad sense. For example, the intermediate cleaning device 1 being located between the first side cleaning device 3 and the second side cleaning device 4 in the first direction means: at least a portion of the middle washing device 1 is located between at least a portion of the first side washing device 3 and at least a portion of the second side washing device 4 in the first direction. In other words, a part of the intermediate cleaning apparatus 1 may coincide with a part of the first side cleaning apparatus 3 in the first direction, and another part of the intermediate cleaning apparatus 1 may coincide with a part of the second side cleaning apparatus 4 in the first direction.

The middle cleaning device 1 is spaced apart from the first side cleaning device 3 and the second side cleaning device 4 in the second direction, and the first direction is perpendicular to the second direction. The second direction may be a moving direction of the wall-climbing robot 2 and the washing system 100. For example, the first direction may be a left-right direction (as indicated by arrow a in fig. 3), and the second direction may be a front-back direction (as indicated by arrow B in fig. 3).

As shown in fig. 1-5, the intermediate cleaning apparatus 1 includes a first roller assembly 11 and a first drive member 12, the first drive member 12 being coupled to the first roller assembly 11 for driving the first roller assembly 11 between a first cleaning position in which it can contact the wall surface 200 and a first release position in which it can be released from the wall surface 200.

The first roller assembly 11 includes a first bracket 111, a first mounting bracket 112, and a first roller 113. The first bracket 111 is disposed on the body 21, and the first driving member 12 is disposed on the first bracket 111. The first mounting bracket 112 is hinged to the first bracket 111, and the first roller 113 is rotatably disposed on the first mounting bracket 112. The first roller 113 may be a motorized roller, and the first roller 113 may be known and not related to the inventive point of the present application, and thus will not be described in detail.

The first drive member 12 is coupled to the first mounting bracket 112 for driving the first mounting bracket 112 to rotate between the first cleaning position and the first disengaged position. The first roller 113 of the first rack 112 in the first washing position can contact the wall surface 200, and the first roller 113 of the first rack 112 in the first release position can be released from the wall surface 200. The first roller assembly 11 and the intermediate cleaning apparatus 1 can be made more rational in construction.

Alternatively, as shown in fig. 4 and 5, the first driving member 12 may be a linear driver, the first driving member 12 is hinged on the first bracket 111, and the first driving member 12 is hinged with the first mounting bracket 112. This prevents the first roller assembly 11 from becoming locked, and thus makes it possible to make the first roller assembly 11 and the intermediate cleaning apparatus 1 more rational.

As shown in fig. 5, the first roller assembly 11 may further include a triangular support frame 1181 and a triangular support frame 1182. The triangular bracket 1181 is mounted to the first bracket 111 by a fastener (e.g., a bolt), and the triangular bracket 1182 is mounted to the first mounting bracket 112 by a fastener (e.g., a bolt). The first drive member 12 is articulated with each of the

triangular supports

1181 and 1182.

The first driving member 12 may include a fixing portion 121 and a telescopic portion 122, the fixing portion 121 may be hinged to the triangular bracket 1181, and the telescopic portion 122 may be hinged to the triangular bracket 1182.

As shown in fig. 4 to 6, the first bracket 111 has a first protrusion 1111 and a second protrusion 1112, the first mounting bracket 112 has a first mounting portion 1121 and a second mounting portion 1122, and the first protrusion 1111 and the second protrusion 1112 are located between the first mounting portion 1121 and the second mounting portion 1122. For example, the first protrusion 1111 and the second protrusion 1112 are located between the first mounting portion 1121 and the second mounting portion 1122 in the first direction. Alternatively, the first protrusion 1111, the second protrusion 1112, the first mounting portion 1121, and the second mounting portion 1122 may all be flat plate-shaped.

The first roller assembly 11 further includes a bolt 114, a nut 115, a first copper bushing 116, and a second copper bushing 117. The bolt 114 passes through the first protrusion 1111, the second protrusion 1112, the first mounting portion 1121, and the second mounting portion 1122, and the nut 1141 of the bolt 114 abuts against the first mounting portion 1121. The nut 115 is fitted over the bolt 114, and the nut 115 abuts against the second mounting portion 1122.

The first copper bush 116 is provided between the first protrusion 1111 and the bolt 114, and the second copper bush 117 is provided between the second protrusion 1112 and the bolt 114. That is, the first copper sleeve 116 is sleeved on the bolt 114, and a portion of the first copper sleeve 116 is located in the hole of the first protrusion 1111, the second copper sleeve 117 is sleeved on the bolt 114, and a portion of the second copper sleeve 117 is located in the hole of the second protrusion 1112. The shoulder 1161 of the first copper sleeve 116 abuts the first mounting portion 1121 and the shoulder 1171 of the second copper sleeve 117 abuts the second mounting portion 1122.

The first roller assembly 11 and the intermediate cleaning apparatus 1 can be made more rational in construction. Since the first copper bush 116 and the second copper bush 117 have a self-lubricating function, the first copper bush 116 and the second copper bush 117 can rotate relative to the bolt 114, the first copper bush 116 can rotate relative to the first protrusion 1111, and the second copper bush 117 can rotate relative to the second protrusion 1112. Thereby making it easier for the first driving member 12 to drive the first mounting bracket 112 to rotate (move) between the first cleaning position and the first disengaged position.

As shown in fig. 3-5, the first mount 112 includes a body 1123, a roller mount 1124, a first support 1125, and a second support 1126. The body 1123 is hinged to the first bracket 111 and the first driving member 12 is connected to the body 1123. For example, the first driver 12 is hingedly connected to the body 1123. A roller mount 1124 is provided on the body 1123, the roller mount 1124 being perpendicular to the body 1123. For example, the roller mount 1124 may extend in the first direction. The first roller 113 is rotatably provided on a roller mounting member 1124.

The body 1123 is positioned between the first and second supports 1125, 1126 in the first direction. A first end of each of the first and second supports 1125 and 1126 is coupled to the body 1123 and a second end of each of the first and second supports 1125 and 1126 is coupled to the drum mount 1124. By providing the first and second supports 1125 and 1126, the axial force of the body 1123 may be supported to make the structure of the first mounting bracket 112 more stable.

As shown in fig. 4 and 7, the drum mount 1124 has a third mounting part 11241 and a fourth mounting part 11242, and a first oblong hole is provided on each of the third and fourth mounting

parts

11241 and 11242. The first roller 113 is mounted on the third and fourth mounting

portions

11241 and 11242 by a first shaft 1131. A first end of the first shaft 1131 fits within the first oblong hole of the third mounting portion 11241 and a second end of the first shaft 1131 fits within the first oblong hole of the fourth mounting portion 11242.

Alternatively, the third mounting part 11241 may include a first portion and a second portion, which are detachably connected. For example, the first portion and the second portion may be connected by a bolt or screw. In installing the first shaft 1131, the first end of the first shaft 1131 may be first fitted into the first oblong hole of the fourth mounting portion 11242, then the second end of the first shaft 1131 may be placed into the hole groove of the first portion, and finally the second portion may be mounted onto the first portion.

As shown in fig. 1, 3 and 8, the second roller assembly 31 includes a second bracket 311, a second mounting bracket 312 and a second roller 313. The second bracket 311 of the first side washing device 3 is provided on the first mounting member 22, and the second bracket 311 of the second side washing device 4 is provided on the second mounting member 23. The second roller 313 is rotatably provided on the second mounting frame 312. The second roller 313 may be a motorized roller, and the second roller 313 may be known and not related to the inventive point of the present application and thus will not be described in detail.

A second driving member 32 (e.g. a steering gear) is provided on the second bracket 311, and the second driving member 32 is connected to the second mounting bracket 312 so as to drive the second mounting bracket 312 to rotate between the second cleaning position and the second disengaged position. The second roller 313 of the second mounting bracket 312 in the second washing position can contact the wall surface 200, and the second roller 313 of the second mounting bracket 312 in the second release position can be released from the wall surface 200. The second roller assembly 31, the first side washing device 3 and the second side washing device 4 can be more reasonably constructed.

As shown in fig. 8, the second mounting bracket 312 has a fifth mounting portion 3121 and a sixth mounting portion 3122, and a second oblong hole is provided on each of the fifth mounting portion 3121 and the sixth mounting portion 3122. The second drum 313 is mounted on the fifth and sixth mounting

portions

3121 and 3122 by a second shaft 3131. Wherein a first end of the second shaft 3131 fits within the second elongated hole of the fifth mounting portion 3121 and a second end of the second shaft 3131 fits within the second elongated hole of the sixth mounting portion 3122.

Alternatively, the sixth mounting portion 3122 may include a third portion and a fourth portion that are detachably connected. For example, the third portion and the fourth portion may be connected by a bolt or a screw. When the second shaft 3131 is mounted, the first end of the second shaft 3131 may be fitted into the second elongated hole of the fifth mounting portion 3121, the second end of the second shaft 3131 may be placed into the hole groove of the third portion, and the fourth portion may be mounted on the third portion.

As shown in FIGS. 2 and 4, the first roller assembly 11 further includes a first roller cover 119, the first roller cover 119 being disposed on the roller mount 1124. The first roller cover 119 covers the first roller 113 to prevent the cleaning liquid on the first roller 113 from being thrown onto the wall-climbing robot 2.

As shown in fig. 2 and 8, the second roller assembly 31 further includes a second roller cover 314, the second roller cover 314 being disposed on the second mounting bracket 312. The second drum cover 314 covers the second drum 313 to prevent the cleaning liquid on the second drum 313 from being thrown onto the wall-climbing robot 2.

As shown in fig. 2, the middle washing apparatus 1 further includes a first spray 13, the first spray 13 being provided on the first drum assembly 11, and each of the first side washing apparatus 3 and the second side washing apparatus 4 further includes a second spray 33, the second spray 33 being provided on the second drum assembly 31. Alternatively, the first spray 13 may be provided on the first drum cover 119 and the second spray 33 may be provided on the second drum cover 314.

The cleaning system 100 further comprises a container 5 and a pump 6. The container 5 is provided on the body 21, and a cleaning liquid for cleaning the wall surface 200 can be contained in the container 5. The pump 6 is connected to the first sprinkling member 13 through a first pipe 71, the pump 6 is connected to the second sprinkling member 33 through a second pipe 72, and the pump 6 is connected to the container 5 through a third pipe 73. Whereby the pump can supply the cleaning liquid in the container 5 to the first and

second showers

13, 33.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A cleaning system based on a wall climbing robot, comprising:

a wall climbing robot;

the middle cleaning device is arranged on the wall-climbing robot and comprises a first roller assembly and a first driving piece, and the first driving piece is connected with the first roller assembly so as to drive the first roller assembly to move between a first cleaning position capable of contacting the wall surface and a first separation position capable of separating from the wall surface; and

the first side cleaning device and the second side cleaning device are arranged on the wall-climbing robot at intervals along a first direction, the intermediate cleaning device is located between the first side cleaning device and the second side cleaning device in the first direction, the intermediate cleaning device being spaced apart from the first side cleaning device and the second side cleaning device in a second direction, the first direction being perpendicular to the second direction, wherein each of the first side washing device and the second side washing device includes a second roller assembly and a second driving member, the second drive member is coupled to the second roller assembly for driving the second roller assembly between a second cleaning position in which the second roller assembly can contact the wall surface and a second disengaged position in which the second roller assembly can be disengaged from the wall surface.

2. The wall-climbing robot-based washing system of claim 1, wherein the wall-climbing robot comprises:

the middle cleaning device is arranged on the body; and

a first mounting section and a second mounting section, the body being located between the first mounting section and the second mounting section in the first direction, each of the first mounting section and the second mounting section being hinged to the body, the axis of rotation of each of the first mounting section and the second mounting section extending in the second direction, wherein the first side cleaning device is provided on the first mounting section and the second side cleaning device is provided on the second mounting section.

3. The wall-climbing robot-based cleaning system according to claim 2, wherein the first roller assembly comprises:

the first bracket is arranged on the body, and the first driving piece is arranged on the first bracket;

a first mounting bracket, the first mounting bracket being hinged to the first support, the first driving member being coupled to the first mounting bracket for driving the first mounting bracket to rotate between the first cleaning position and the first disengaged position; and

the first roller is rotatably arranged on the first mounting frame.

4. The wall-climbing robot-based cleaning system according to claim 3, wherein the first driving member is a linear actuator, the first driving member is hinged to the first bracket, and the first driving member is hinged to the first mounting bracket.

5. The wall-climbing robot-based washing system of claim 4, wherein the first bracket has a first protrusion and a second protrusion, the first mounting bracket has a first mounting portion and a second mounting portion, the first protrusion and the second protrusion are located between the first mounting portion and the second mounting portion, the first roller assembly further comprises:

the bolt penetrates through the first convex part, the second convex part, the first mounting part and the second mounting part, and a nut of the bolt abuts against the first mounting part;

the nut is sleeved on the bolt and abuts against the second mounting part;

the first copper sleeve is arranged between the first convex part and the bolt, and the shoulder part of the first copper sleeve is abutted against the first mounting part; and

and the second copper sleeve is arranged between the second convex part and the bolt, and the shoulder part of the second copper sleeve is abutted against the second mounting part.

6. The wall-climbing robot-based washing system of claim 3, wherein the first mounting bracket comprises:

the main body is hinged to the first bracket, and the first driving piece is connected with the main body;

a drum mount provided on the main body, the drum mount being perpendicular to the main body, the first drum being rotatably provided on the drum mount;

a first support and a second support, the body being located between the first support and the second support in the first direction, a first end of each of the first support and the second support being connected to the body, and a second end of each of the first support and the second support being connected to the drum mount.

7. The wall-climbing robot-based cleaning system according to claim 6, wherein the roller mounting member has a third mounting portion and a fourth mounting portion, each of the third mounting portion and the fourth mounting portion is provided with a first oblong hole, the first roller is mounted on the third mounting portion and the fourth mounting portion through a first shaft, wherein a first end of the first shaft is fitted in the first oblong hole of the third mounting portion, and a second end of the first shaft is fitted in the first oblong hole of the fourth mounting portion.

8. The wall-climbing robot-based cleaning system according to claim 2, wherein the second roller assembly comprises:

the second bracket of the first side cleaning device is arranged on the first mounting piece, the second bracket of the second side cleaning device is arranged on the second mounting piece, and the second driving piece is arranged on the second bracket;

a second mounting bracket, the second driving member being coupled to the second mounting bracket for driving the second mounting bracket to rotate between the second cleaning position and the second disengaged position; and

the second roller is rotatably arranged on the second mounting frame.

9. The cleaning system based on the wall-climbing robot as claimed in claim 8, wherein the second driving member is a steering engine, the second mounting frame is provided with a fifth mounting part and a sixth mounting part, each of the fifth mounting part and the sixth mounting part is provided with a second oblong hole, the second roller is mounted on the fifth mounting part and the sixth mounting part through a second shaft, a first end of the second shaft is matched in the second oblong hole of the fifth mounting part, and a second end of the second shaft is matched in the second oblong hole of the sixth mounting part.

10. The wall-climbing robot-based cleaning system according to claim 2, wherein the middle cleaning device further comprises a first spray provided on the first drum assembly, each of the first side cleaning device and the second side cleaning device further comprises a second spray provided on the second drum assembly, the cleaning system further comprising:

a container disposed on the body; and

the pump, the pump pass through first pipeline with the first piece that sprays links to each other, the pump pass through the second pipeline with the second sprays the piece and links to each other, the pump pass through the third pipeline with the container links to each other.