CN115520299A - Traveling device and cleaning robot - Google Patents

Abstract

The utility model relates to a cleaning equipment technical field, the utility model discloses a running gear and cleaning robot, running gear includes coupling assembling, the subassembly is inhaled to omni-directional wheel subassembly and magnetism, the omni-directional wheel subassembly passes through coupling assembling and connects in cleaning device's supporting mechanism, inhale the magnetic attraction effect of subassembly down, the omni-directional wheel subassembly can keep walking on treating abluent working face, two swing bracket of coupling assembling can be along with the position change and the adaptability swing of omni-directional wheel subassembly, and the omni-directional wheel subassembly rotationally connects in swing bracket, therefore at the in-process of walking, each omni-directional wheel subassembly self is also rotatory for swing bracket adaptability, thereby position and the angle of adaptability adjustment omni-directional wheel subassembly, with the working face of adaptation curvature radius change, running gear's reliability has been improved. The cleaning robot including the traveling device also has the advantages described above. Running gear and cleaning robot are applicable to and wash wind power tower section of thick bamboo, help prolonging the life of a tower section of thick bamboo.

Description

Traveling device and cleaning robot

Technical Field

The application relates to the technical field of cleaning equipment, in particular to a walking device and a cleaning robot.

Background

At present, when cleaning the outer surface of facilities such as buildings, wall climbing and cleaning with a clear surface can be realized by having a wall climbing robot. In practical application, many indoor and outdoor facilities have curved surfaces with different curvature radiuses, and the existing wall-climbing robot and the cleaning robot thereof are difficult to adapt to the change of the curvature radiuses of the curved surfaces, so that the cleaning difficulty is high.

Taking the outer surface of a wind power tower as an example, the tower is a support frame of a wind driven generator, and a common structure is a cylindrical structure with a curvature radius gradually increasing from top to bottom so as to ensure the stability of the support. Wind power tower cylinder has dust pollution, greasy dirt pollution, the rust scheduling problem that corrodes in the in-service use, along with wind turbine generator system operating time extension, the greasy dirt pollution condition can be more serious, not only influences the pleasing to the eye of a tower section of thick bamboo, produces serious destruction to tower section of thick bamboo paint surface moreover, makes tower section of thick bamboo surface appear corroding more easily and rust, thereby reduces the corrosion resisting property and the structural strength of a tower section of thick bamboo, leads to stress deformation, the risk of collapsing of a tower section of thick bamboo appears, thereby shortens the life of a tower section of thick bamboo. Therefore, the cleaning work of the tower drum is very important, the cleaning work is mostly completed by manual high-altitude cleaning work at present, and operators attach the rope to the tower drum through hoisting to clean the tower drum manually, so that the problems of low cleaning efficiency, long cleaning period, high danger coefficient, low safety, high labor intensity, high labor cost, high cleaning cost and the like exist.

In other schemes, adopt the wall climbing robot to wash, the running gear of current wall climbing robot adopts magnetic mechanism to set up on track spare surface, and track spare can adsorb a tower section of thick bamboo through magnetic mechanism on the surface, and track spare cover is established on the drive wheel to with the drive wheel meshing, the drive wheel is used for driving track spare operation, thereby makes track spare can walk on tower section of thick bamboo surface, drives the robot body and drives belt cleaning device completion cleaning along tower section of thick bamboo surface migration. But crawler-type magnetic mechanism when walking on the curved surface that curvature radius is different, can not adapt to curvature radius's change to make magnetic adsorption mechanism effectively laminate with tower section of thick bamboo surface, thereby reduce the adsorption affinity of magnetic adsorption mechanism to tower section of thick bamboo surface, make the track break away from the working face easily, reduce the reliability of climbing wall robot use.

Disclosure of Invention

The present application is directed to solving at least one of the problems in the prior art. Therefore, the application provides a walking device, which can adapt to curved surfaces with different curvature radiuses, improve the adsorption stability of the surface to be cleaned, and improve the reliability of the cleaning robot. The application also provides a cleaning robot with the walking device.

The walking device is used for enabling the cleaning robot to walk on a working surface to be cleaned and comprises a connecting assembly, an omnidirectional wheel assembly and a magnetic attraction assembly, wherein the connecting assembly comprises two swinging supports which are arranged at intervals in a first direction and are symmetrical to each other, and the swinging supports are suitable for being connected with a supporting mechanism of the cleaning robot through revolute pairs; the omnidirectional wheel assemblies are arranged on the swinging supports at intervals along a third direction, and the omnidirectional wheel assemblies on the two swinging supports are symmetrically arranged; the first direction and the third direction are perpendicular to each other; the omnidirectional wheel assembly is rotatably connected to the swinging bracket and is used for rolling along a working surface to be cleaned; the magnetic attraction component is used for providing magnetic attraction force so that the omnidirectional wheel component keeps attached to a working surface to be cleaned.

The cleaning robot of the embodiment of the first aspect of the application has at least the following beneficial effects: under the effect of the magnetic attraction component, the omnidirectional wheel component can be held on a working surface to be cleaned to walk, the two swing supports can swing adaptively along with the position change of the omnidirectional wheel component, and the omnidirectional wheel component is rotatably connected to the swing supports, so that in the process of walking in the third direction, along with the change of the curvature radius, the relative position between the omnidirectional wheel components changes, the swing supports swing along with the relative position, each omnidirectional wheel component also adaptively rotates relative to the swing supports, the position and the angle of the omnidirectional wheel component are adaptively adjusted, the working surface with the changed curvature radius is adapted, and the reliability of the walking device is improved.

According to running gear of some embodiments of this application, the omniwheel subassembly includes omniwheel and wheel carrier, the wheel carrier with the swing support is articulated, magnetism is inhaled the subassembly and is connected in the wheel carrier, two the omniwheel rotate connect in the wheel carrier and symmetry set up in inhale the both sides of subassembly.

According to running gear of some embodiments of this application, coupling assembling still includes telescopic bracket, two telescopic bracket sets up respectively in two one side that deviates from each other of swing bracket, telescopic bracket's one end pass through the revolute pair connect in swing bracket, the other end be suitable for connect in through the revolute pair supporting mechanism, telescopic bracket can follow swing bracket's swing and flexible.

The cleaning robot comprises a cleaning device and a walking device, wherein the cleaning device is used for cleaning a working surface to be cleaned, and the cleaning device comprises a supporting mechanism, and the supporting mechanism is provided with a set length along a first direction; the traveling device is the traveling device of any one of the embodiments of the first aspect, the traveling device is located on one side of the supporting mechanism along the second direction, the swing support is connected to the supporting mechanism through a revolute pair, and the first direction, the second direction and the third direction are perpendicular to each other in pairs.

The cleaning robot of the embodiment of the second aspect of the present application has at least the following beneficial effects: the cleaning robot can walk on the working surface with the changed curvature radius, adaptively adjust the position and the angle of the omnidirectional wheel assembly and improve the reliability of the walking device by adopting the walking device of the embodiment, thereby ensuring the normal operation of the cleaning device and improving the cleaning efficiency.

According to the cleaning machines people of some embodiments of this application, belt cleaning device still includes the edge the third direction set gradually wipe dry the mechanism, spray the mechanism and scrub the mechanism, wipe dry the mechanism spray the mechanism with scrub the mechanism connect respectively in supporting mechanism, scrub the mechanism and be used for treating abluent working face and scrub, it is right that the mechanism that sprays is used for the working face sprays the washing liquid, wipe dry the mechanism be used for to scrub and spray the back the working face is wiped dry.

According to the cleaning robot of some embodiments of this application, supporting mechanism includes link and main frame, two the main frame is followed first direction set up respectively in the both sides of link, the main frame is followed third direction extend and with inject the installation space between the link, scrub mechanism set up in the installation space, wipe dry the mechanism connect in the link, spray the mechanism connect in the main frame or the link, coupling assembling correspond connect in the main frame.

A cleaning robot according to some embodiments of the present application, the cleaning device further comprising a wiping mechanism comprising a wiping bracket and a wiping rope, wherein: the wiping support comprises a fixed frame, an adjusting assembly and a guide piece, the fixed frame has a set length along the first direction, the adjusting assembly is connected to the fixed frame, the guide piece is arranged on each of two sides of the adjusting assembly, and the guide piece is connected to the fixed frame; and, in the second direction, the guide is further away from the fixed mount relative to the adjustment assembly; the both ends of wiping rope connect respectively in adjust assembly and follow first direction is around locating the guide part, wiping rope can slide in order to follow the guide part is relaxed or the tensioning in the second direction, adjust assembly is used for following the tensioning of second direction wiping rope.

According to the cleaning robot of some embodiments of the present application, the cleaning device further includes a spraying mechanism including a spraying pipe and a nozzle, the spraying pipe is connected to the supporting mechanism, and the nozzle is connected to one side of the spraying pipe in the second direction for spraying the cleaning liquid toward the second direction; follow the third direction, dry mechanism is located spray one side of mechanism, the mount connect in supporting mechanism, dry rope is located the mount with one side that the nozzle orientation is unanimous, be used for right spray the working face after the mechanism sprays dry, adjusting part is used for the tensioning dry rope treats abluent working face with the laminating.

According to the cleaning machines people of some embodiments of this application, belt cleaning device still includes scrub the mechanism, scrub the mechanism connect in supporting mechanism, scrub the mechanism and include round brush and drive assembly, the center pin of round brush is followed the first direction extends, follows the third direction, scrub the mechanism and be located spray the mechanism and deviate from wipe dry one side of mechanism, drive assembly connect in the center pin of round brush for order to order about the round brush is rotatory in order to scrub the working face that treats the washing.

According to the cleaning robot of some embodiments of this application, belt cleaning device still includes detection mechanism and round brush removes the subassembly, detection mechanism with scrub mechanism communication connection for along the change volume of the radius of curvature of the in-process detection of third direction removal treating abluent working face, round brush removes the subassembly connect in supporting mechanism, round brush removes the subassembly and is suitable for the basis the change volume that detection mechanism detected is followed the second direction removes the round brush.

A cleaning robot according to some embodiments of the present application, the cleaning device further comprising a spray mechanism and a brush mechanism, wherein: the spraying mechanism comprises a spraying pipe and a nozzle, the spraying pipe is connected to the supporting mechanism, and the nozzle is connected to one side of the spraying pipe along the second direction and used for spraying cleaning liquid towards the second direction; the brushing mechanism is connected to the supporting mechanism and comprises a rolling brush and a driving assembly, a central shaft of the rolling brush extends along the first direction, the brushing mechanism is located on one side of the spraying mechanism along the third direction, and the driving assembly is connected to the central shaft of the rolling brush and used for driving the rolling brush to rotate so as to brush the surface to be cleaned.

According to the cleaning robot of some embodiments of this application, still include hoisting device, the supporting mechanism is followed the both sides of first direction are connected with respectively hoisting device, two hoisting device is used for promoting in step supporting mechanism.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

Fig. 1 is a schematic structural diagram of a cleaning robot according to an embodiment of the present application;

FIG. 2 is a top view of a cleaning robot according to an embodiment of the present application;

fig. 3 is a partial structural schematic view of a traveling device of a cleaning robot according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of an omni-wheel assembly in a walking device according to an embodiment of the present application;

FIG. 5 is a schematic view of an operating state of a cleaning robot according to an embodiment of the present application;

FIG. 6 is a schematic view of another working state of the cleaning robot according to the embodiment of the present application;

FIG. 7 is a schematic view of another working state of the cleaning robot according to the embodiment of the present application;

fig. 8 is a schematic structural diagram of a wiping mechanism according to an embodiment of the present application;

FIG. 9 is an enlarged view of a portion A of FIG. 8;

FIG. 10 is an enlarged view of a portion of FIG. 8 at B;

FIG. 11 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present application;

FIG. 12 is an enlarged view of a portion of FIG. 11 at C;

FIG. 13 is a schematic structural diagram of a spraying mechanism in the cleaning apparatus according to the embodiment of the present application;

FIG. 14 is an enlarged view of a portion of FIG. 13 at D;

FIG. 15 is a schematic structural view of a brush mechanism in the cleaning apparatus according to the embodiment of the present disclosure;

FIG. 16 is a schematic structural diagram of a detection mechanism in the cleaning apparatus according to the embodiment of the present application;

fig. 17 is a partially enlarged view of a portion E of fig. 11.

Reference numerals:

the device comprises a wiping mechanism 100, a wiping bracket 101, a wiping rope 102, a fixing frame 103, an adjusting component 104, a guide part 105, a first pulley 106, a second pulley 107, a first connecting rod 108, a second connecting rod 109, an elastic part 110, a swing rod 111, a connecting rod 112, a connecting seat 113, an anti-falling buckle 114, a wiping moving component 115 and a sliding rail 116;

the spraying mechanism 200, a spraying pipe 201, a nozzle 202, a first pipe body 203, a second pipe body 204, a third pipe body 205, a spraying bracket 206 and a water outlet 207;

the brushing mechanism 300, the rolling brush 301, the driving component 302, the roller shaft 303, the bristles 304, the water inlet joint 305, the motor 306, the speed reducer 307, the rolling brush moving component 308, the bracket 309, the sliding piece 310, the power piece 311 and the flange 312;

the detection mechanism 400, the sliding table 401, the movable rod 402, the spring 403, the universal wheel 404, the first sensor 405 and the second sensor 406;

a supporting mechanism 500, a connecting frame 501 and a main frame 502;

the walking device 600, the connecting assembly 601, the omnidirectional wheel assembly 602, the magnetic attraction assembly 603, the swinging bracket 604, the telescopic bracket 605, the omnidirectional wheel 606, the wheel carrier 607, the magnet base 608 and the magnet shell 609;

the device 700 is lifted.

Detailed Description

The conception and the resulting technical effects of the present application will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all embodiments, and other embodiments obtained by a person skilled in the art without making any inventive effort based on the embodiments of the present application are within the protection scope of the present application.

In the description of the embodiments of the present application, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", and the like are based on the orientations or positional relationships shown in the drawings, it is only for convenience of description and simplification of description, but not to indicate or imply that the referred apparatus or device must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.

In the description of the embodiments of the present application, if a feature is referred to as being "disposed", "fixed", "connected", or "mounted" to another feature, it can be directly disposed, fixed, or connected to the other feature or indirectly disposed, fixed, connected, or mounted to the other feature. In the description of the embodiments of the present application, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.

The current wall climbing robot cleans oil stains on the surface of the wind power tower barrel through a disc brush, and is difficult to effectively clean curved surfaces with different curvature radiuses. Taking the outer wall of the tower drum as an example (for example, a wind power tower drum), the tower drum is usually a cylindrical structure with a small top and a large bottom, and the curvature radius of the cylindrical structure is gradually increased from top to bottom so as to ensure the stability of the support. Because the outer wall of a tower section of thick bamboo is the curved surface, has the radian, if unable fine laminating with a tower section of thick bamboo outer wall during the washing, then the washing dynamics is uneven, is difficult to guarantee the cleaning performance. Moreover, the curvature of the outer wall of the tower barrel is changed, and the cleaning force cannot be adjusted by a conventional cleaning mechanism, so that the cleaning effect is poor and the efficiency is low. At present, besides the aforementioned cleaning methods, some cleaning solutions for the tower are provided in the prior art, such as:

1. chinese patent application No. CN 110201956A discloses a tower drum cleaning robot, and the device pushes a roller brush to move back and forth through a cylinder so as to adapt to the change of the conicity of a tower drum in the up-down direction. The problem that this scheme exists is, in the cleaning process, need take corresponding sensing means and control means, through the feedback control mode of collocation, detects the removal of feedback and accurate control cylinder to the curved surface of a tower section of thick bamboo, just enables the cylinder brush and carries out the washing of a tower section of thick bamboo along with a tower section of thick bamboo diameter change, and the cylinder brush does not possess self-adaptation regulating power.

2. Chinese patent application No. CN110341828A discloses a curved surface cleaning robot and a magnetic cleaning robot thereof, wherein the curved surface cleaning robot adapts to working surfaces with different curvature radiuses through the curved surface cleaning robot, and the radial and tangential position adjustment of a cleaning brush is realized through bolt adjustment so as to adapt to the curvature of the working surfaces. The problem that this scheme exists is, the regulation of sweeper brush needs to debug before the cleaning operation, and cleaning robot walks on the curved surface and carries out abluent in-process, and cleaning device's sweeper brush is unable self-adaptation regulation and cleans the dynamics.

3. Chinese patent CN210440168U discloses a magnetic climbing robot applied to cleaning and detecting of a fan tower cylinder, which adopts a crawler-type magnetic climbing device to realize magnetic climbing of the outer wall of the tower cylinder, but a crawler-type magnetic mechanism cannot adapt to the change of curvature radius when walking on curved surfaces with different curvature radii, so that the magnetic adsorption mechanism cannot be effectively attached to the surface of the tower cylinder, the adsorption force of the magnetic adsorption mechanism on the surface of the tower cylinder is reduced, the crawler is easily separated from a working surface, and the reliability of the use of the wall climbing robot is reduced.

Above three tower section of thick bamboo washing schemes listed, its belt cleaning device and running gear all have the problem that can't adapt to tower section of thick bamboo curved surface and change, unable automatically regulated cleans the dynamics, lead to cleaning performance poor, cleaning efficiency low, climbing reliability poor. The application provides a running gear and cleaning robot, can adapt to the different curved surfaces of curvature radius, improves running gear's reliability, helps optimizing cleaning performance, improves the cleaning efficiency. Embodiments of the present application are described below with reference to the accompanying drawings:

referring to fig. 1 to 3, in a first aspect of the present application, a walking device 600 is provided, which includes a connection assembly 601, an omnidirectional wheel assembly 602, and a magnetic attraction assembly 603, where the connection assembly 601 is used for connecting the omnidirectional wheel assembly 602 and a support mechanism 500 of a cleaning robot, so that the cleaning robot can walk on a work surface to be cleaned, and the magnetic attraction assembly 603 is used for providing a magnetic attraction force to keep the omnidirectional wheel assembly 602 against the work surface to be cleaned, so as to avoid falling off.

Referring to fig. 1 to 3, the connection assembly 601 includes two swing brackets 604, the two swing brackets 604 are spaced apart along a first direction and are symmetrical to each other, and the swing brackets 604 are adapted to be connected to the support mechanism 500 of the washing robot through a revolute pair; two omnidirectional wheel assemblies 602 are respectively arranged on each swing bracket 604 at intervals along the third direction, and the omnidirectional wheel assemblies 602 on the two swing brackets 604 are symmetrically arranged; the first direction and the third direction are mutually perpendicular, and when the cleaning device is applied to cleaning of a wind power tower, the first direction can be the tangential direction of the outer wall surface of the tower, and the third direction can be the vertical direction.

Wherein, the omnidirectional wheel assembly 602 is rotatably connected with the swing bracket 604, and the omnidirectional wheel assembly 602 is used for rolling along the working surface to be cleaned; under the action of the magnetic attraction component 603, the omnidirectional wheel component 602 can be held on a working surface to be cleaned to walk, the two swing brackets 604 can swing adaptively along with the position change of the omnidirectional wheel component 602, and the omnidirectional wheel component 602 is rotatably connected to the swing brackets 604, so that in the process of walking in the third direction, along with the change of the curvature radius, the relative position between the omnidirectional wheel components 602 changes, the swing brackets 604 swing along with the change of the curvature radius, each omnidirectional wheel component 602 also adaptively rotates relative to the swing brackets 604, the position and the angle of the omnidirectional wheel component 602 are adaptively adjusted, the working surface with the changed curvature radius is adapted, and the reliability of the walking device 600 is improved.

Referring to fig. 4, in some embodiments of the walking device 600, the omni-wheel assembly 602 includes an omni-wheel 606 and a wheel frame 607, the wheel frame 607 is hinged to the swing bracket 604, the magnetic attraction assembly 603 is connected to the wheel frame 607, so that each of the omni-wheel 606 and the magnetic attraction assembly 603 can adaptively adjust the angle, and the two omni-wheels 606 are rotatably connected to the wheel frame 607 and symmetrically disposed on both sides of the magnetic attraction assembly 603, so as to improve the stability of the omni-wheel 606 against the working surface. The magnetically attractive assembly 603 may include a magnet holder 608, a magnet and a magnet housing 609, the magnet holder 608 being connected to the wheel carrier 607, the magnet housing 609 being connected to the magnet holder 608, the magnet being disposed within the magnet housing 609, enabling a stable connection of the magnet between the two omni wheels 606.

Referring to fig. 3, in the walking device 600 of some embodiments, the connection assembly 601 further includes two telescopic brackets 605, the two telescopic brackets 605 are respectively disposed on sides of the two swing brackets 604 facing away from each other, one end of the telescopic bracket 605 is connected to the swing bracket 604 through a revolute pair, the other end is adapted to be connected to the supporting mechanism 500 through a revolute pair, and the telescopic bracket 605 can be extended and retracted along with the swing of the swing bracket 604. The telescopic bracket 605 may be a telescopic rod structure formed by two rod members sleeved with each other, or may be a foldable structure formed by two rod members connected through a revolute pair, so that on one hand, the connection stability of the omni wheel 606 can be improved, and on the other hand, the position adjustment of the swing bracket 604 and the omni wheel assembly 602 is prevented from being affected.

It should be noted that, the traveling mechanism of the embodiment of the present application solves the problem that the existing wall-climbing robot is difficult to adapt to a curved surface with a curvature change, in practical use, the traveling device 600 of the embodiment of the present application can be used as the traveling device 600 of a cleaning robot to be applied to cleaning the outer wall surface of a wind power tower, and each omnidirectional wheel assembly 602 can adaptively rotate along with the change of the curved surface, so that the traveling mechanism can adapt to the change of the curvature radius of the outer wall surface of the wind power tower, and referring to fig. 5 to 7, states of the cleaning robot having the traveling device 600 when the curvature radius of the outer wall of the tower is R1, R2, and R3 are respectively shown, where R1 < R2 < R3, and it can be seen that when the curvature radius is increased, an included angle α 1 < α 2 < α 3, and an included angle β of a rotating shaft of the omnidirectional wheel 606 is also increased, that α 1 < α 2 < α 3, and β 1 < β 2 < β 3. Therefore, when the walking device 600 walks on a curved surface with a changing curvature radius, the swing bracket 604 and the omnidirectional wheel 606 can both adjust the angle adaptively along with the changing curvature radius, and compared with the prior art, the walking device has higher adaptive capacity and improves the reliability of climbing the wall.

The embodiment of the second aspect of the present application provides a cleaning robot, which includes a cleaning device and a traveling device 600, wherein the cleaning device is used for cleaning a working surface to be cleaned, the cleaning device includes a supporting mechanism 500, and the supporting mechanism 500 has a set length along a first direction; the running gear 600 is the running gear 600 according to any of the embodiments of the first aspect, the running gear 600 is located on one side of the support mechanism 500 along the second direction, and the swing bracket 604 is connected to the support mechanism 500 through a revolute pair. The first direction, the second direction and the third direction are perpendicular to each other, when the cleaning device is applied to cleaning of a wind power tower drum, the first direction can be the tangential direction of the outer wall surface of the tower drum, the second direction can be the radial direction of the tower drum, and the third direction can be the vertical direction. The cleaning robot in this embodiment adopts the running gear 600 of the above-mentioned embodiment, can walk and adaptability adjustment omniwheel subassembly 602's position and angle on the working face that the radius of curvature changes, improves running gear 600's reliability, therefore, can guarantee cleaning device's normal operating, improve cleaning efficiency.

In some embodiments of the cleaning robot, the cleaning device further includes a wiping mechanism, fig. 8 is a schematic structural diagram of the wiping mechanism in the cleaning robot according to an embodiment of the present application, and referring to fig. 8, the wiping mechanism 100 includes a wiping bracket 101 and a wiping rope 102, and can be attached to a work surface to be cleaned by the wiping rope 102 and move along a set direction so as to wipe off moisture on the work surface.

The wiping-dry support 101 comprises a fixing frame 103, an adjusting assembly 104 and a guide piece 105, the fixing frame 103 has a set length along a first direction, the adjusting assembly 104 is connected to the fixing frame 103, the guide piece 105 is respectively arranged on two sides of the adjusting assembly 104, and the guide piece 105 is connected to the fixing frame 103. And, along the second direction, guide 105 is farther away from mount 103 relative to adjusting part 104, and the both ends of wiping rope 102 are connected respectively to adjusting part 104 and are around locating guide 105 along the first direction. Under the action of external force, the wiping rope 102 can slide relative to the guide pieces 105 to be loosened or tensioned between the two guide pieces 105 along the second direction, the adjusting assembly 104 is located between the two guide pieces 105 and used for tensioning the wiping rope 102 along the second direction, and the second direction is perpendicular to the first direction, so that the wiping rope 102 can be suitable for being attached to a curved surface with a larger or smaller curvature, and can be adaptively tensioned and attached to a work surface being wiped, and the wiping and cleaning force is ensured.

In the process of adhering and wiping the working surface to be cleaned by the wiping rope 102: when the curvature radius of the curved surface passed by the drying rope 102 becomes larger, the drying rope 102 is squeezed to be loosened between the two guiding pieces 105 to adapt to the increase of the curvature radius of the working surface to be cleaned, and meanwhile, the adjusting assembly 104 can enable the drying rope 102 to be tensioned to be attached to the working surface to be cleaned, so that the drying and cleaning force can be adjusted adaptively. On the contrary, when the curvature radius of the curved surface passed by the drying rope 102 becomes smaller, the adjusting component 104 can make the drying rope 102 tense to fit the working surface to be cleaned, so as to adapt to the reduction of the curvature radius of the working surface to be cleaned, and avoid the drying rope 102 from being loosened to separate from the working surface to be cleaned or weaken the drying force, thereby adaptively adjusting the drying and cleaning force.

Fig. 9 is a partially enlarged view taken at a in fig. 8, illustrating a specific structure of the guide member 105, and referring to fig. 9, in some embodiments, the guide member 105 may include a first pulley 106, a second pulley 107, a first connecting rod 108 and a second connecting rod 109, the first connecting rod 108 extends along a first direction, one end of the first connecting rod is connected to the fixed frame 103, the other end of the first connecting rod is connected to the first pulley 106, the second connecting rod 109 extends along a second direction, one end of the second connecting rod is connected to the first connecting rod 108, and the other end of the second connecting rod is connected to the second pulley 107. The two guides 105 are symmetrically arranged. Therefore, in the second direction, the second pulley 107 is farther away from the fixing frame 103 relative to the adjusting assembly 104, and the wiping rope 102 is wound around the first pulley 106 and the second pulley 107, so that a movement space can be formed in the second direction, and the wiping rope is convenient to loosen or tighten along with the change of the curvature of the working surface to be cleaned. The first pulley 106 and the second pulley 107 achieve guidance of the drying rope 102 and reduce friction.

In some embodiments, the adjusting assembly 104 may include two elastic members 110, one end of each of the two elastic members 110 is connected to the fixing frame 103, and the other end is connected to two ends of the drying rope 102, so that the drying rope 102 can be adaptively loosened or tightened along with the change of the curvature radius of the curved surface under the traction of the elastic members 110, and then the elastic members 110 keep close to the curved surface, thereby ensuring the cleaning force.

Fig. 10 is a partially enlarged view of a portion B in fig. 8, illustrating a specific structure of the adjustment assembly 104, and referring to fig. 10, in some embodiments, the adjustment assembly 104 may also include a swing link 111 and an elastic member 110, one end of the elastic member 110 is connected to the fixed frame 103, and the other end is connected to the swing link 111. Along the first direction, two sides of the elastic member 110 are respectively provided with a swing rod 111, one end of the swing rod 111 is rotatably connected with the fixing frame 103, and the other end of the swing rod 111 is connected to the wiping rope 102. The elastic member 110 may be a compression spring. Therefore, the wiping rope 102 is in the process of wiping and cleaning the curved surface, when the curvature radius of the curved surface is increased, the wiping rope 102 can pull the swing rod 111 to swing along the first direction so as to be away from each other, the length of the wiping rope 102 used for being attached to the curved surface is increased, so that the curved surface can be attached, the swing of the swing rod 111 drives the elastic part 110 to elastically deform, the restoring force of the elastic part 110 can enable the swing rod 111 to swing towards the direction close to each other, so that the wiping rope 102 can be tensioned, the wiping rope 102 can be attached to the curved surface being cleaned, and the cleaning force is ensured. The deformation of the elastic element 110 changes with the change of the curvature radius of the curved surface to which the drying rope 102 is attached, so that the degree of the drying rope 102 attached to the curved surface is adjusted, and the self-adaptive adjustment of the cleaning force is realized.

Referring to fig. 10, the adjustment assembly 104 may further include a link 112 and a connection seat 113 to facilitate the connection of the elastic member 110 and the swing link 111 and the transmission of force or moment. Wherein, connecting seat 113 is connected in the one end that deviates from mount 103 of elastic component 110, and along first direction, the both sides of connecting seat 113 are provided with connecting rod 112 respectively, and the both ends of connecting rod 112 are connected in connecting seat 113 and pendulum rod 111 through the revolute pair respectively, and consequently, wobbling pendulum rod 111 can drive connecting rod 112 motion so that connecting seat 113 is close to or keeps away from mount 103 to make elastic component 110 carry out corresponding elastic deformation.

Referring to fig. 8, to ensure the stability of the connection of drying rope 102, some drying mechanisms 100 further include anti-tripping device 114, drying rope 102 is connected to anti-tripping device 114, and anti-tripping device 114 is connected to adjusting assembly 104. Specifically, two ends of the wiping-dry rope 102 are respectively connected to the anti-tripping device 114, and are connected to the swing rod 111 of the adjusting assembly 104 through the anti-tripping device. The anti-drop buckle 114 used for connecting the end parts of the conventional steel cable can be adopted, and has the advantages of firm connection, drop prevention and convenient switching. Anti-tripping 114 can guarantee the stability of wiping rope 102 end connection to anti-tripping 114 can be connected in pendulum rod 111 through the revolute pair, realizes wiping rope 102 end's switching, reduces the friction loss of hookup location, compares with the scheme of rope lug connection pendulum rod 111, can reduce the degree of difficulty of connecting, improves the convenience of connecting.

In some embodiments, the drying mechanism 100 further includes a drying moving assembly 115, the drying moving assembly 115 is connected to the drying support 101, and the drying moving assembly 115 is configured to move the drying support 101 along the second direction. Therefore, when the curvature change span of the working surface to be cleaned is too large, the position of the wiping mechanism 100 along the second direction can be adjusted within a set range through the wiping moving assembly 115, and the wiping rope 102 can be ensured to be attached to the working surface. Specifically, the wiping moving assembly 115 may be an air cylinder or a linear module. The fixing frame 103 in the drying bracket 101 may be connected to a sliding rail 116, and the sliding rail 116 extends along the second direction, thereby enabling to support the drying mechanism 100 and limiting the drying mechanism 100 from moving along the second direction. It should be noted that, for the cleaning of the wind power tower, brushing and spraying are usually included, the wiping mechanism 100 according to the embodiment of the present application can be used for wiping and cleaning the sprayed working surface, and moreover, as can be seen from the above embodiment, the wiping mechanism 100 is suitable for a curved surface with a variable curvature radius, and in the wiping process, the wiping rope 102 can be made to attach to the working surface in a self-adaptive manner, so that the cleaning force is ensured. The cleaning agent is applied to cleaning of the wind power tower drum, can effectively remove water stains and residual stains, and improves cleaning efficiency.

Fig. 11 is a schematic structural diagram of a cleaning device in a cleaning robot according to an embodiment of the present disclosure, fig. 12 is a schematic partial enlarged view at a point C in fig. 11, fig. 13 is a schematic structural diagram of a spraying mechanism in a cleaning robot according to an embodiment of the present disclosure, fig. 14 is a schematic partial enlarged view at a point D in fig. 13, and fig. 15 is a schematic structural diagram of a brushing mechanism in a cleaning robot according to an embodiment of the present disclosure, referring to fig. 11 to fig. 15, in some embodiments, the cleaning device includes a supporting mechanism 500, a spraying mechanism 200, and a wiping mechanism 100, where the supporting mechanism 500 is used for mounting and connecting the spraying mechanism 200 and the wiping mechanism 100, the spraying mechanism 200 is used for spraying a cleaning liquid on a work surface, and the wiping mechanism 100 is used for wiping the sprayed work surface.

Wherein, referring to fig. 13, the spraying mechanism 200 includes a spraying pipe 201 and a nozzle 202, the spraying pipe 201 is connected to the supporting mechanism 500, and the nozzle 202 is connected to one side of the spraying pipe 201 in the second direction for spraying the cleaning liquid in the second direction; the drying mechanism 100 adopts the drying mechanism 100 of any one of the embodiments of the first aspect; the drying rope 102 is located on the side of the fixing frame 103 that is aligned with the nozzle 202, so that the drying rope 102 and the nozzle 202 can act on the same working surface at the same time. Along the third direction, the wiping mechanism 100 is located on one side of the spraying mechanism 200, and the fixing frame 103 is connected to the supporting mechanism 500, so that the wiping rope 102 can be used for wiping the working surface sprayed by the spraying mechanism 200, and the adjusting component 104 is used for tensioning the wiping rope 102 to fit the working surface to be cleaned.

When the cleaning device is practically applied to cleaning of a wind power tower, the third direction can be a vertical direction, and the wiping mechanism 100 can be arranged above the spraying mechanism 200, so that in the process that the cleaning device moves from the wiping mechanism 100 to the spraying mechanism 200 (namely, from top to bottom along the vertical direction), after the spraying mechanism 200 sprays and cleans a working surface to be cleaned, the wiping mechanism 100 can wipe and clean the working surface, thereby being beneficial to accelerating the removal of water stains and the removal of residual stains. Known from the above-mentioned first aspect embodiment, should dry mechanism 100 can also laminate the working face that curvature radius is different adaptively to adjust the washing dynamics, can guarantee cleaning quality from this, improve the cleaning efficiency.

Referring to fig. 13 and 14, in some embodiments, the shower 201 includes a first pipe 203, a second pipe 204, and a third pipe 205, the first pipe 203 extends along a first direction, the second pipe 204 and the third pipe 205 are respectively connected to two ends of the first pipe 203, the second pipe 204, and the third pipe 205 are respectively provided with water outlets 207 along a same side of a second direction, and each water outlet 207 is respectively connected with a nozzle 202, so that a plurality of nozzles 202 all spray towards a same side, a spraying range can be expanded along the first direction, and compared with a scheme of spraying a cleaning solution through only one nozzle, uniformity of spray cleaning can be improved. Further, the second pipe 204 and the third pipe 205 are inclined with respect to the first pipe 203 toward the spraying direction of the nozzle 202, so that the second pipe 204 and the third pipe 205 surround one side of the first pipe 203 along the second direction, the first pipe 203, the second pipe 204 and the third pipe 205 can form an arc-like structure, and can surround one side of a curved surface. In another embodiment, the entire shower pipe 201 may have an arc-shaped structure with a predetermined radius, and a plurality of nozzles 202 are arranged on one side of the shower pipe 201 along the extending direction of the shower pipe 201, so that the arc-shaped curved surface can be sprayed through the arc-shaped shower pipe 201, thereby improving the uniformity of spraying.

In some embodiments, referring to fig. 13, spray mechanism 200 further comprises spray bracket 206, spray bracket 206 is connected to support mechanism 500, spray pipe 201 is connected to spray bracket 206, and spray pipe 201 is connected to support mechanism 500 through spray bracket 206, which can improve the stability of spray pipe 201 connection. The spray bracket 206 may be a rod-like structure that may be fixedly attached by conventional fasteners. The shower pipe 201 may be connected to a water pump, or connected to the water pump through a connection pipe. Of course, the shower holder 206 may be formed in a tubular shape, and a passage may be provided therein, the passage being communicated with a pipe of the shower pipe 201 at a connection portion between the shower holder 206 and the shower pipe 201, so that the shower holder 206 formed in a tubular shape may be connected to a water pump to supply the cleaning liquid to the shower pipe 201.

Referring to fig. 11 and 15, in some embodiments, the cleaning device further includes a brushing mechanism 300, the brushing mechanism 300 is connected to the supporting mechanism 500, the brushing mechanism 300 includes a roller brush 301 and a driving assembly 302, and the roller brush 301 can be used for brushing the working surface to be cleaned. The central axis of the rolling brush 301 extends along a first direction, and the driving assembly 302 is connected to the central axis of the rolling brush 301 and is used for driving the rolling brush 301 to rotate so as to brush the working surface to be cleaned. In the third direction, the brushing mechanism 300 is located on the side of the spray mechanism 200 facing away from the drying mechanism 100, i.e., the spray mechanism 200 is located between the brushing mechanism 300 and the drying mechanism 100. Thus, the brushing mechanism 300, the spraying mechanism 200, and the wiping mechanism 100 can simultaneously clean the work surface to be cleaned, and the cleaning device can sequentially clean, rinse, and wipe the work surface in the order of brushing, rinsing, and wiping while moving in the third direction from the wiping mechanism 100 to the brushing mechanism 300. For example, when the cleaning device is used for cleaning a wind power tower, the third direction may be a vertical direction, the spray pipe 201 of the spray mechanism 200 is disposed above the rolling brush 301 of the brushing mechanism 300, the wiping rope 102 of the wiping mechanism 100 is disposed above the spray pipe 201, and the cleaning device may be moved from top to bottom to clean the outer wall of the tower, so that, in the moving process of the cleaning device, the work surface to be cleaned is firstly brushed by the rolling brush 301, then sprayed by the spray pipe 201, wiped by the wiping rope 102, and brushed, sprayed and wiped sequentially along with the moving process of the cleaning device, thereby improving the cleaning efficiency, and the cleaning liquid sprayed by the spray pipe 201 flows downward, so that in the brushing process, the rolling brush 301 may brush the work surface in cooperation with the cleaning liquid, and may remove stains better. Moreover, the wiping mechanism 100 can perform adaptive adjustment on the curved surface with the changed curvature radius, so that the wiping and cleaning effects are ensured.

Fig. 16 is a schematic structural diagram of a detection mechanism in a cleaning robot according to an embodiment of the present disclosure, fig. 17 is an enlarged partial view of a part E in fig. 11, and referring to fig. 16 and 17, in some embodiments, the cleaning apparatus further includes a detection mechanism 400 and a rolling brush moving assembly 308, the detection mechanism 400 is communicatively connected to the brushing mechanism 300 and is configured to detect a variation of a radius of curvature of the work surface to be cleaned during the movement in the third direction, the rolling brush moving assembly 308 is connected to the supporting mechanism, and the rolling brush moving assembly 308 is adapted to move the rolling brush in the second direction according to the variation.

Specifically, referring to fig. 17, the rolling brush moving assembly 308 may include a bracket 309, a slider 310, and a power member 311, wherein the power member 311 is connected to the bracket 309 and the supporting mechanism 500, the rolling brush 301 is connected to the bracket 309, the bracket 309 is connected to the slider 310, and the slider 310 is connected to the supporting mechanism 500. The power member 311 can drive the bracket 309 to slide along the sliding member 310 so as to drive the rolling brush 301 to move along the second direction, and the sliding member 310 is used for limiting the power member 311 to move along the second direction. Wherein, the power member 311 may be an electric cylinder, and the sliding member 310 may be a conventional sliding rail sliding table 401 assembly.

The detection mechanism 400 can detect in a contact or non-contact manner, for example, referring to fig. 16, the detection mechanism 400 may include a sliding table 401, a movable rod 402, a spring 403, and a universal wheel 404, the movable rod 402 is connected to the sliding table 401 and extends along the second direction, the universal wheel 404 is rotatably mounted at an end of the movable rod 402 for contacting the work surface to be cleaned, the spring 403 is sleeved on the movable rod 402, and an elastic force of the spring 403 can make the movable rod 402 have a tendency to move towards the work surface to be cleaned, so that the universal wheel 404 can be kept against the work surface during the whole movement of the cleaning device. During the movement, the universal wheel 404 rolls along the working surface, and when the curvature radius of the working surface becomes larger or smaller, the movable rod 402 can extend and contract along the second direction, so that the change of the curvature radius can be obtained by detecting the displacement of the movable rod 402. In the cleaning process, the rolling brush moving assembly 308 can adaptively adjust the position of the rolling brush 301 according to the variation, so as to adjust the brushing force, and the specific detection feedback can be realized by a conventional controller.

Referring to fig. 16, the sensing mechanism 400 may further include a first sensor 405 and a second sensor 406, the first sensor 405 and the second sensor 406 being spaced apart in the second direction and being attachable to the slide table 401 or the support mechanism 500, for sensing two extreme positions of the movement of the movable bar 402 in the second direction, thereby knowing whether the cleaning device moving in the third direction reaches a position of a maximum radius of curvature or a position of a minimum radius of curvature. The first sensor 405 and the second sensor 406 may be implemented by conventional photoelectric sensors.

Referring to fig. 12 and 16, in some embodiments, the wiping moving component 115 of the wiping mechanism 100 may also be communicatively connected to the detection mechanism 400, and during the cleaning process, the wiping moving component 115 may adaptively adjust the position of the wiping bracket 309 according to the variation detected by the detection mechanism 400, so that the wiping rope 102 can better fit the work surface to be cleaned.

Referring to fig. 15, in some embodiments, the roller brush 301 includes a roller 303 and bristles 304, the bristles 304 are disposed on the roller 303 and distributed around the roller 303, the roller 303 is a central shaft of the roller brush 301, and can be connected to the driving assembly 302 as a driving shaft, and the end of the roller brush can be connected to a flange 312 to facilitate connection with the driving assembly 302. The inside of roller 303 can be hollow and set up and form the passageway, radially offers a plurality of through-holes that communicate in the passageway on the wall body of roller 303, and water supply connector 305 can be connected to the passageway to let in the washing liquid. In practical application, the cleaning liquid can be introduced into the channel of the roller 303, when the roller 303 rotates, the cleaning liquid can be discharged from the through hole without cutoff, the liquid can be supplied to the brush bristles 304, water flow is formed under the action of centrifugal force, and the brush can be subjected to plot, so that the automatic cleaning function is realized.

Wherein, drive assembly 302 can include motor 306 and speed reducer 307, and motor 306 and speed reducer 307 link to each other, and speed reducer 307 is connected to roller 303, and motor 306 operation drive speed reducer 307 drives the roller 303 and rotates to realize the rotation of brush, be used for scrubbing the working face of waiting to wash. The motor 306 can be a servo motor, and the reducer 307 can be a worm gear reducer. The cleaning solution may be water or an aqueous solution in which a cleaning agent is dissolved. The roller shaft 303 can be made of seamless carbon steel tubes, and the surface can be provided with a protective layer by spraying powder and baking paint. The bristles 304 may be abrasive filaments, all of which are conventional.

Referring to fig. 11, in some embodiments, the supporting mechanism 500 includes a connecting frame 501 and two main frames 502, which are respectively disposed on two sides of the connecting frame 501 along a first direction, and can be used for mounting the driving assembly 302, the control assembly, the distribution box, and other structures. The connecting frame 501 is connected to the main frame 502, the main frame 502 extends in the third direction, so an installation space is defined between the main frame 502 and the connecting frame 501, the brushing mechanism 300 is disposed in the installation space, for example, the rolling brush 301 is disposed in the installation space and connected to the main frame 502 through the roller shaft 303 of the rolling brush 301, the driving assembly 302 is connected to the main frame 502, the wiping mechanism 100 is connected to the connecting frame 501 so as to be located above the installation space, the spraying mechanism 200 is connected to the main frame 502 or the connecting frame 501, the traveling device 600 is connected to a side of the supporting mechanism 500 corresponding to the brushing mechanism 300, and can provide a strong suction force for the position of the brushing mechanism 300, so as to ensure the brushing force of the rolling brush 301, and can avoid interference to the wiping mechanism 100 or the spraying mechanism 200. The connecting assembly 601 of the traveling mechanism 600 is correspondingly connected to the main frame 502, so that the omni-directional wheel assembly 602 can drive the cleaning device to move on the working surface to be cleaned, and the cleaning device can clean the working surface through the brushing mechanism 300, the spraying mechanism 200 and the wiping mechanism 100. In this embodiment, the supporting mechanism 500 can be used as a supporting body to install the brushing mechanism 300, the spraying mechanism 200, the wiping mechanism 100, the walking device 600 and other mechanisms, the supporting mechanism 500 can be moved to realize the overall movement of the mechanisms after assembly, and meanwhile, mutually independent modules can be formed among the mechanisms to be connected to the supporting mechanism 500, so that a modularized assembly mode is realized, and the device is convenient to disassemble and assemble and easy to maintain.

Wherein, link 501 and main frame 502 all can build and fixed connection forms through the member, can have stable structure, makes things convenient for the erection joint of each mechanism to can reduce the dead weight.

In the cleaning robot according to some embodiments, the cleaning device may include a wiping mechanism 100, a spraying mechanism 200, and a brushing mechanism 300, which are sequentially disposed along a third direction, and are respectively connected to the supporting mechanism 400, the brushing mechanism 300 is configured to brush a work surface to be cleaned, the spraying mechanism 200 is configured to spray a cleaning solution on the work surface, and the wiping mechanism 100 is configured to wipe the brushed and sprayed work surface. The cleaning device in some embodiments cleaning robots may include only the wiping mechanism 100, or the spraying mechanism 200, or the brushing mechanism 300, or a combination of any two of these. The specific arrangement of the drying mechanism 100, the spray mechanism 200 and the brushing mechanism 300 can be found in the previous embodiments.

In some embodiments, the cleaning robot further includes a lifting device 700, the lifting devices 700 are respectively connected to two sides of the supporting mechanism 500 along the first direction, and the two lifting devices 700 are used for synchronously lifting the supporting mechanism 500, so that after the walking device 600 drives the cleaning device to move along the curved surface from top to bottom for one stroke and clean, the cleaning device is lifted upwards by the lifting device 700 to facilitate the movement and cleaning of the next stroke.

The cleaning robot of this application embodiment is applicable to the washing of wind power tower cylinder outer wall, can understand, wind power generation is as the clean energy that can regenerate, to the effective washing of a tower section of thick bamboo, can effectively avoid polluting, the structural strength that the corruption leads to reduces, corrosion resistance reduces, stress deformation scheduling problem, the cleaning robot of this application embodiment has solved the problem that present wall climbing robot and belt cleaning device are difficult to adapt to the curved surface that the camber changes, thereby can improve a tower section of thick bamboo wall abluent efficiency and effect, help improving the stability that wind turbine generator set supported, the life of a extension tower section of thick bamboo. It should be noted that, in practical use, the wiping mechanism or the cleaning device of the embodiment of the present application may be disposed on the traveling device, and the traveling device drives the cleaning device to move, so as to clean the corresponding working surface.

The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present application. Furthermore, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

Claims (12)

1. Running gear, its characterized in that for making cleaning robot can walk on the working face of treating the washing, running gear includes:

the connecting assembly comprises two swing brackets which are arranged at intervals along a first direction and are mutually symmetrical, and the swing brackets are suitable for being connected with a supporting mechanism of the cleaning robot through revolute pairs;

the omnidirectional wheel assemblies are arranged on the swing supports along a third direction at intervals respectively, and the omnidirectional wheel assemblies on the two swing supports are symmetrically arranged; the first direction and the third direction are perpendicular to each other; the omnidirectional wheel assembly is rotatably connected to the swinging bracket and is used for rolling along a working surface to be cleaned;

and the magnetic attraction component is used for providing magnetic attraction force so that the omnidirectional wheel component keeps attached to a working surface to be cleaned.

2. The walking device according to claim 1, wherein the omni-wheel assembly comprises an omni-wheel and a wheel carrier, the wheel carrier is hinged to the swing bracket, the magnetic attraction assembly is connected to the wheel carrier, and the two omni-wheels are rotatably connected to the wheel carrier and symmetrically arranged on two sides of the magnetic attraction assembly.

3. The walking device according to claim 1, wherein the connecting assembly further comprises two telescopic brackets, the two telescopic brackets are respectively arranged on the sides of the two swing brackets, the sides of the two swing brackets are far away from each other, one ends of the telescopic brackets are connected to the swing brackets through revolute pairs, the other ends of the telescopic brackets are suitable for being connected to the supporting mechanism through revolute pairs, and the telescopic brackets can stretch along with the swing of the swing brackets.

4. A cleaning robot, comprising:

the cleaning device is used for cleaning a working surface to be cleaned and comprises a supporting mechanism, wherein the supporting mechanism is provided with a set length along a first direction;

the running gear of any one of claims 1 to 3, being located on one side of the support mechanism in a second direction, the swing bracket being connected to the support mechanism through a revolute pair, the first direction, the second direction and the third direction being perpendicular to each other in pairs.

5. The cleaning robot of claim 4, wherein the cleaning device further comprises a wiping mechanism, a spraying mechanism and a brushing mechanism, which are sequentially arranged along the third direction, the wiping mechanism, the spraying mechanism and the brushing mechanism are respectively connected to the supporting mechanism, the brushing mechanism is used for brushing a working surface to be cleaned, the spraying mechanism is used for spraying a cleaning solution onto the working surface, and the wiping mechanism is used for wiping the brushed and sprayed working surface.

6. The cleaning robot as claimed in claim 5, wherein the supporting mechanism includes a connecting frame and a main frame, the main frame is disposed on two sides of the connecting frame along the first direction, the main frame extends along the third direction and defines an installation space with the connecting frame, the brushing mechanism is disposed in the installation space, the wiping mechanism is connected to the connecting frame, the spraying mechanism is connected to the main frame or the connecting frame, and the connecting assembly is correspondingly connected to the main frame.

7. The cleaning robot of claim 4, wherein the cleaning device further comprises a drying mechanism comprising a drying bracket and a drying cable, wherein:

the wiping support comprises a fixed frame, an adjusting assembly and a guide piece, the fixed frame has a set length along the first direction, the adjusting assembly is connected to the fixed frame, the guide piece is arranged on each of two sides of the adjusting assembly, and the guide piece is connected to the fixed frame; and, in the second direction, the guide is further away from the fixed mount relative to the adjustment assembly;

the both ends of wiping rope connect respectively in adjust assembly and follow first direction is around locating the guide part, wiping rope can slide in order to follow the guide part is relaxed or the tensioning in the second direction, adjust assembly is used for following the tensioning of second direction wiping rope.

8. The cleaning robot according to claim 7, wherein the cleaning device further comprises a spray mechanism including a spray pipe connected to the support mechanism and a spray nozzle connected to one side of the spray pipe in the second direction for spraying the cleaning liquid in the second direction; follow the third direction, dry mechanism is located spray one side of mechanism, the mount connect in supporting mechanism, dry rope is located the mount with one side that the nozzle orientation is unanimous, be used for right spray the working face after the mechanism sprays dry, adjusting part is used for the tensioning dry rope treats abluent working face with the laminating.

9. The cleaning robot of claim 8, wherein the cleaning device further comprises a brushing mechanism connected to the support mechanism, the brushing mechanism including a roller brush having a central axis extending in the first direction and a driving assembly connected to the central axis of the roller brush for driving the roller brush to rotate to brush the work surface to be cleaned, the brushing mechanism being located on a side of the spraying mechanism facing away from the wiping mechanism in the third direction.

10. The cleaning robot of claim 9, wherein the cleaning device further comprises a detecting mechanism and a rolling brush moving assembly, the detecting mechanism is in communication with the brushing mechanism for detecting a variation of a radius of curvature of the work surface to be cleaned during the movement in the third direction, the rolling brush moving assembly is connected to the supporting mechanism, and the rolling brush moving assembly is adapted to move the rolling brush in the second direction according to the variation detected by the detecting mechanism.

11. The cleaning robot of claim 4, wherein the cleaning device further comprises a spray mechanism and a brush mechanism, wherein:

the spraying mechanism comprises a spraying pipe and a nozzle, the spraying pipe is connected to the supporting mechanism, and the nozzle is connected to one side of the spraying pipe along the second direction and used for spraying cleaning liquid towards the second direction;

the brushing mechanism is connected to the supporting mechanism and comprises a rolling brush and a driving assembly, a central shaft of the rolling brush extends along the first direction, the brushing mechanism is located on one side of the spraying mechanism along the third direction, and the driving assembly is connected to the central shaft of the rolling brush and used for driving the rolling brush to rotate so as to brush the surface to be cleaned.

12. The washing robot as claimed in any one of claims 4 to 11, further comprising a lifting device connected to each of both sides of the support mechanism in the first direction, the two lifting devices being configured to lift the support mechanism synchronously.

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