CN211726835U - Walking device of ventilating duct cleaning robot - Google Patents

Abstract

The utility model discloses an air pipe cleaning robot's running gear, include: a support structure, a holding structure, a drive structure and a control system; the support structure comprises a front support structure and a rear support structure, and the retaining structure comprises a front retaining structure and a rear retaining structure; one end of each of the front retaining structure and the rear retaining structure is connected with two ends of the driving structure respectively, the other end of each of the front retaining structure and the rear retaining structure is connected with the front supporting structure, and the other end of each of the rear retaining structure and the rear supporting structure; the supporting structure, the holding structure and the driving structure are connected with the control system through the signal transmission unit; the utility model discloses bearing structure, retaining structure and drive structure all adopt motor drive lead screw nut mechanism to realize the walking and the support of clearance robot in air pipe, and it has enough big drive traction force, pipe diameter adaptability, return bend throughput and climbing ability, can satisfy various air pipe's different operation demands.

Description

Walking device of ventilating duct cleaning robot

Technical Field

The invention relates to the field of cleaning of pipelines, in particular to a walking device of a cleaning robot for a ventilation pipeline.

Background

With the development of society, more and more buildings, villas and the like adopt central air conditioners, however, air pollution caused by the fact that air pipes are not cleaned in time is harmful to the health of people, clean air pipes cannot be obtained for a long time, a proper living environment is provided for harmful bacteria, the harmful bacteria can be continuously bred and widely spread along with the four-way and eight-way air pipes, and secondary pollution to the air is caused indoors; the harm to human health and the diseases caused by the air conditioning and ventilating system of the building can reach dozens, and the office and living environment can be ensured only by regularly cleaning.

At present, most of central air conditioners in buildings are solved when the problem of pipelines is serious, the fact that periodic cleaning is performed every year is very little, and since foreign air conditioners are popularized earlier, the research on pipeline cleaning robots is advanced in China, and the traveling part used by WintClean robots in Sweden is of a crawler type, so that the traveling mode has the advantages of being high in obstacle crossing capability, small in turning radius and the like, and the defects of being low in traveling speed and complex in structure are that AIRTOX cleaning robots in Canada, Hanlin air duct cleaning robots in Korea and Indor cleaning robots in England adopt similar traveling modes.

In China, although research on a mobile dirt cleaning robot specially aiming at the inside of a ventilating duct in constructional engineering starts late, in recent years, robots are increasingly applied to cleaning the duct, including robot inspection, robot cleaning, robot collection, robot disinfection and the like, and although the application of cleaning robots is more and more common, the cleaning robots have a large development space in terms of functional stability and environmental adaptability, for example, the problems that the cleaning mode is single, the cost of the cleaning robot is high, the cleaning robot is heavy and the like are urgently needed to be improved.

Disclosure of Invention

According to the defects of the prior art, the invention aims to solve the problems of pipe diameter adaptability, bent pipe passing capacity, climbing capacity and the like of the existing robot, and the invention aims to provide the walking device of the ventilating duct cleaning robot, which has enough large driving traction force, pipe diameter adaptability, bent pipe passing capacity and climbing capacity, and can meet different operation requirements of various micro pipelines.

The invention is realized by the following technical scheme.

A walking device of a cleaning robot for a ventilation pipeline comprises: a support structure comprising a front support structure 1 and a rear support structure 5, a holding structure comprising a front holding structure 2 and a rear holding structure 4, a drive structure and a control system; the front supporting structure 1 is connected with one end of the front holding structure 2, the other end of the front holding structure 2 is connected with one end of the driving structure 3, the other end of the driving structure 3 is connected with one end of the rear holding structure 4, the other end of the rear holding structure 4 is connected with the rear supporting structure 5, and the supporting structure, the holding structure and the driving structure are connected with the control system through the signal transmission unit.

Further, the front supporting structure 1 and the rear supporting structure 5 are the same, and both include: the device comprises an adjusting motor 17, a pressure spring a14, a slider a16, a nut sleeve a13, a support lead screw 18, a function module connecting seat 12, a fixed seat 11, a bearing sleeve, a support connecting rod a8, a support connecting rod b9, a pressure spring b10 and a support guide rod 7; the adjusting motor 17 is connected with a fixed seat 11, the fixed seat 11 is connected with a bearing sleeve, one end of a support connecting rod a8 is hinged with a nut sleeve a13, the other end of the support connecting rod b9 is hinged with one end of a support connecting rod b9, the other end of the support connecting rod b9 is hinged with a sliding block a16, an output shaft of the adjusting motor 17 is connected with a driving screw 35 through the bearing sleeve and the fixed seat 11, a nut sleeve a13 is in threaded connection with the driving screw 35, one end of the support guide rod 7 is fixedly connected with a nut sleeve a13, the other end of the support guide rod b9 is connected with the fixed seat 11, a pressure spring a14 is connected with a nut sleeve a13 and a sliding block a16 through the support guide rod 7, and a pressure spring b 483.

Further, the front holding structure 2 and the rear holding structure 4 are identical and each include: the device comprises a frame 19, a retainer 24, a retaining link a20, a retaining link b22, a retaining wheel 21, a pressure spring c23, a support shaft 25, a slider b26 and a hexagonal nut 27; the retainer 24 is connected with the frame 19, one end of the retaining connecting rod a20 is hinged with the retainer 24, the other end of the retaining connecting rod a20 is hinged with one end of the retaining connecting rod b22, the other end of the retaining connecting rod b22 is hinged with the sliding block b26, one end of the supporting shaft 25 is connected with the retainer 24 through the sliding block b26, the other end of the supporting shaft 25 is in threaded connection with the hexagonal nut 27, and the pressure spring c23 is fixed on the sliding block b26 and the hexagonal nut 27 through the supporting shaft 25.

And the supporting wheel mechanisms of the front supporting structure and the rear supporting structure and the retaining wheel mechanisms of the front retaining structure and the rear retaining structure are all provided with three groups which are distributed at an angle of 120 degrees.

Further, the driving structure 3 includes: the universal joint 28, the driving motor 29, the driving motor shell 30, the retainer ring 32, the bearing 33, the end cover 34, the driving lead screw 35, the nut sleeve 36 and the guide rod 31; the driving motor 29 is installed in a driving motor housing 30, one end of the driving motor housing 30 is connected with an end cover of the universal joint 28, the other end of the driving motor housing 30 is connected with the nut sleeve 36 through the guide rod 31, one end of the driving lead screw 35 is connected with an output shaft of the driving motor 29, and the other end of the driving lead screw is in threaded connection with the nut sleeve 36.

Further, a wire window is provided on the driving motor housing 30.

Furthermore, the driving structure 3 further comprises a flexible shaft, one end of the flexible shaft is connected with the output shaft of the driving motor through a micro connecting sleeve, and the other end of the flexible shaft is connected with the screw rod.

Furthermore, the control system is installed in the robot motion control box, receives a control instruction sent by the control box through the wireless communication unit, realizes robot motion control including forward movement, backward movement, stop movement, climbing and the like, and sends detection data of the running speed, the current voltage of the power supply module, the inclination angle of a distribution network wire and the like to the external control system receiving unit.

Preferably, the slide block a and the slide block b are both provided with a micro pressure sensor.

Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

1. the motor drives the screw and nut mechanism, the rotation of the motor is converted into a required motion form, the motor has enough motion traction force, and the head part and the tail part can be provided with functional modules according to the requirements to meet different operation requirements.

2. The walking device of the cleaning robot for the ventilation pipeline is provided with the flexible shaft driving mechanism, so that the cleaning robot for the ventilation pipeline has the capability of passing through bent pipes.

3. According to the invention, by arranging the autonomous locking mechanism, the mechanism not only can adjust the positive pressure between the locking mechanism and the pipe wall according to actual needs to ensure enough friction force, but also can increase the adaptability to the pipe diameter; the automatic locking mechanism consists of a screw nut pair adjusting mechanism, and a connecting rod mechanism is adopted to drive a sliding block to compress a spring so as to adapt to the change of the pipe diameter; the supporting wheels are in contact with the pipe wall, so that the pipe can be better adapted to complex pipeline environments, and when the motor works, the nut sleeve slides up and down along the screw rod under the action of the thread pair, so that the supporting mechanism is tightly supported or the pipe wall is loosened, and the function of automatic locking is achieved.

4. The invention can pass through a tiny pipeline with a certain pipe diameter change by arranging the support radius of the support wheels and the retaining wheels in the front support structure, the rear support structure and the front and rear retaining structures to be changed within a certain range through adjusting the positive and negative rotation control link mechanism of the motor and the retaining motor.

Drawings

Fig. 1 is a main structural schematic diagram of a walking device of a ventilation duct cleaning robot of the invention;

fig. 2 is an axial schematic view of a walking device of a ventilation duct cleaning robot of the invention;

fig. 3 is a schematic view of a front support structure and a rear support structure in the walking device of the ventilation duct cleaning robot of the present invention;

fig. 4 is a schematic view of a front and rear holding structure in a walking device of a ventilation duct cleaning robot according to the present invention;

fig. 5 is a schematic view of a driving structure in a walking device of a ventilation duct cleaning robot according to the present invention;

fig. 6 is a schematic view of a force unloading structure in a walking device of a ventilation duct cleaning robot according to the present invention.

Description of reference numerals: 1. a front support structure; 2. a front retaining structure; 3. a drive structure; 4. a back holding structure; 5. a rear support structure; 6. a tube wall; 7. a support guide rod; 8. a support link a; 9. a support link b; 10. a pressure spring b; 11. a fixed seat; 12. a functional module connecting seat; 13. a nut sleeve a; 14. a pressure spring a; 15. a support wheel; 16. a slide block a; 17. adjusting the motor; 18. a support lead screw; 19. a frame; 20. a holding link a; 21. a holding wheel; 22. a holding link b; 23. a pressure spring c; 24. a holder; 25. a support shaft; 26. a slide block b; 27. a hexagonal nut; 28. a universal joint; 29. a drive motor; 30. a drive motor housing; 31. a guide bar; 32. a retainer ring; 33. a bearing; 34. an end cap; 35. driving a lead screw; 36. a nut sleeve; 37. an outer retainer ring; 38. a ball bearing; 39. an air vent; 40. an inner retainer ring; 41. and a motor output shaft.

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other; the specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.

Example one

Referring to fig. 1, the walking device of a cleaning robot for ventilation ducts of the present invention comprises: a support structure comprising a front support structure 1 and a rear support structure 5, a holding structure comprising a front holding structure 2 and a rear holding structure 4, a drive structure and a control system; the front supporting structure 1 is connected with one end of a front holding structure 2, the other end of the front holding structure 2 is connected with one end of a driving structure 3, the other end of the driving structure 3 is connected with one end of a rear holding structure 4, and the other end of the rear holding structure 4 is connected with the rear supporting structure 5; the supporting structure, the holding structure and the driving structure are connected with the control system through the signal transmission unit; the supporting structure and the driving structure are both driven by a direct current motor, and the supporting structure can be automatically locked with the pipe wall, so that the walking reliability is guaranteed.

Referring to fig. 3, the support structure of the present invention includes: the device comprises an adjusting motor 17, a pressure spring a14, a slider a16, a nut sleeve a13, a support lead screw 18, a function module connecting seat 12, a fixed seat 11, a bearing sleeve, a support connecting rod a8, a support connecting rod b9, a pressure spring b10 and a support guide rod 7; the adjusting motor 17 is connected with a fixed seat 11, the fixed seat 11 is connected with a bearing sleeve, one end of a support connecting rod a8 is hinged with a nut sleeve a13, the other end of the support connecting rod b9 is hinged with one end of a support connecting rod b9, the other end of the support connecting rod b9 is hinged with a sliding block a16, an output shaft of the adjusting motor 17 is connected with a driving screw 35 through the bearing sleeve and the fixed seat 11, a nut sleeve a13 is in threaded connection with the driving screw 35, one end of the support guide rod 7 is fixedly connected with a nut sleeve a13, the other end of the support guide rod b9 is connected with the fixed seat 11, a pressure spring a14 is connected with a nut sleeve a13 and a sliding block a16 through the support guide rod 7, and a pressure spring b 483; the supporting structure is provided with an autonomous locking mechanism, the mechanism not only can adjust positive pressure between the locking mechanism and the pipe wall 6 according to actual needs to ensure enough friction force, but also can increase the adaptability to the pipe diameter; the automatic locking mechanism consists of a screw nut pair adjusting mechanism, and a connecting rod mechanism is adopted to drive a sliding block to compress a spring so as to adapt to the change of the pipe diameter; the supporting wheels 15 are adopted to be in contact with the pipe wall 6, so that the complex pipeline environment can be better adapted, and the supporting wheels 15 are symmetrically distributed at 120 degrees, as shown in fig. 2; when the motor works, the nut sleeve a13 slides along the support screw 18 under the action of the thread pair, so that the support mechanism can tighten or loosen the pipe wall 6 to achieve the function of self-locking; in addition, the slide block a16 is provided with a miniature pressure sensor which can directly measure the force borne by the slide block a16 in the tightening process, so that the positive pressure between the supporting wheel 15 and the pipe wall 6 is obtained, the supporting mechanism is guaranteed to be tightly tightened on the pipe wall by constant pressure, and the overload protection effect on the adjusting motor 17 is also realized.

Referring to fig. 4, the holding structure includes: the device comprises a frame 19, a retainer 24, a retaining link a20, a retaining link b22, a retaining wheel 21, a pressure spring c23, a support shaft 25, a slider b26 and a hexagonal nut 27; the retainer 24 is connected with the frame 19, one end of the retaining connecting rod a20 is hinged with the retainer 24, the other end of the retaining connecting rod a20 is hinged with one end of the retaining connecting rod b22, the other end of the retaining connecting rod b22 is hinged with the sliding block b26, one end of the supporting shaft 25 is connected with the retainer 24 through the sliding block b26, the other end of the supporting shaft 25 is in threaded connection with the hexagonal nut 27, and the pressure spring c23 is fixed on the sliding block b26 and the hexagonal nut 27 through the supporting shaft 25; the retaining mechanism mainly plays a self-centering role in the pipeline, and 3 retaining wheels 21 are symmetrically distributed at 120 degrees, as shown in fig. 2; the axis of the retaining wheel 21 is always vertical to the generatrix of the pipe wall, and the retaining wheel rolls along the pipe wall 6 when in work, so that the motion friction resistance is reduced; when the robot moves in pipelines with different diameters, the extension and the contraction of the pressure spring c23 drive the slide block b26 to slide, and the retaining wheel 21 is always attached to the pipe wall 6 under the action of the connecting rod mechanism, so that the aim of adapting to different pipe diameters is fulfilled; therefore, when the robot moves in the pipe, the central line of the robot is basically consistent with the central line of the pipe, and the included angle between each unit and the pipe wall is ensured to be in the stable movement range.

Referring to fig. 5, the driving structure 3 includes: the universal joint 28, the driving motor 29, the driving motor shell 30, the retainer ring 32, the bearing 33, the end cover 34, the driving lead screw 35, the nut sleeve 36 and the guide rod 31; the driving motor 29 is installed in a driving motor shell 30, one end of the driving motor shell 30 is connected with an end cover of the universal joint 28, the other end of the driving motor shell 30 is connected with the nut sleeve 36 through a guide rod 31, one end of the driving screw 35 is connected with an output shaft of the driving motor 29, and the other end of the driving screw is in threaded connection with the nut sleeve 36; in order to ensure that the cleaning robot for the ventilating duct can smoothly pass through the bent pipe, the driving structure 3 further comprises a flexible shaft, a driving motor in the driving structure transmits torque through the flexible shaft, the length of the flexible shaft is about 16mm, one end of the flexible shaft is connected with an output shaft of the driving motor 29 through a micro connecting sleeve, and the other end of the flexible shaft is connected with a driving screw 35.

The control system is arranged in the robot motion control box, receives control instructions sent by the control box through the wireless communication unit, realizes robot motion control including advancing, retreating, stopping motion, climbing and the like, and sends detection data of running speed, current voltage of the power supply module, inclination angle of a distribution network wire and the like to the external control system receiving unit.

A function expansion module, such as a sensor, a miniature CCD camera, a miniature manipulator and the like, is arranged on a function module mounting seat 12 at the head or the tail of the robot to realize function expansion, so that the robot has the function of in-pipe operation.

Example two

As shown in fig. 1, 2, 3, 4, and 5, the present embodiment is similar to the structural principle of embodiment 1, and is different from embodiment 1 in that, in order to protect the driving motor, a force unloading mechanism is designed on the output shaft of the driving motor 29, the force unloading mechanism is used for transmitting torque by matching the output shaft of the motor with the driving lead screw 35 through gluing, a bearing 38 is axially positioned by inner and outer retainer rings, and the structure is specifically shown in fig. 6; when the output shaft of the driving motor 29 bears the axial load, the transmission paths of the force are as follows: when bearing pressure, the force is transmitted to the bearing 38, the outer retainer ring 37, the driving motor 29 and the driving motor shell 30 by the driving lead screw 35 in sequence; when the tension is borne, the force is transmitted to the bearing 38, the inner retainer ring 40 and the driving motor shell 30 in sequence through the driving screw rod 35; thus, the axial load is transmitted to the drive motor housing 30, and the purpose of protecting the output shaft of the drive motor 29 is achieved.

The movement mechanism of the walking device of the ventilating duct cleaning robot is as follows:

step 1: the adjusting motor 17 of the front supporting structure 1 rotates forwards, the supporting connecting rod mechanism is recovered, and the supporting wheel 15 leaves the pipe wall 6;

step 2: the driving motor 29 of the driving mechanism 3 rotates forwards, the nut sleeve 36 moves along the direction of the guide rod 31 under the action of the thread pair, and pushes the robot head unit to crawl forwards;

and step 3: the adjusting motor 17 of the front supporting structure 1 rotates reversely, the supporting connecting rod is spread, and the supporting wheel 15 compresses the pipe wall 6;

and 4, step 4: the adjusting motor 17 of the rear supporting structure 5 rotates forwards to support the link mechanism to recover, and the supporting wheel 15 leaves the pipe wall 6;

and 5: the driving motor 29 of the driving mechanism 3 rotates reversely, and the driving screw 35 drags the driving motor 29 and the tail unit to climb forwards along the nut sleeve 36 under the action of the thread pair;

step 6: the adjusting motor 17 of the rear supporting structure 5 rotates reversely, the supporting link mechanism is spread, and the supporting wheels 15 press the pipe wall 6 tightly.

By repeating the above actions, the robot can crawl forwards in the pipeline, and when the robot moves reversely, the steps are similar to the above steps, and are not described again here.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the motor of the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.

Claims (9)

1. A walking device of a cleaning robot for a ventilation pipeline comprises: -a support structure, a holding structure, a drive structure and a control system, characterized in that the support structure comprises a front support structure (1) and a rear support structure (5), the holding structure comprises a front holding structure (2) and a rear holding structure (4); the front supporting structure (1) is connected with one end of the front retaining structure (2), the other end of the front retaining structure (2) is connected with one end of the driving structure (3), the other end of the driving structure (3) is connected with one end of the rear retaining structure (4), the other end of the rear retaining structure (4) is connected with the rear supporting structure (5), and the supporting structure, the retaining structure and the driving structure are connected with the control system through the signal transmission unit.

2. Walking device of a ventilation duct cleaning robot according to claim 1, characterized in that said front support structure (1) and rear support structure (5) are identical and each comprise: the device comprises an adjusting motor (17), a pressure spring a (14), a sliding block a (16), a nut sleeve a (13), a supporting lead screw (18), a functional module connecting seat (12), a fixed seat (11), a supporting connecting rod a (8), a supporting connecting rod b (9), a pressure spring b (10) and a supporting guide rod (7); the adjusting motor (17) is connected with the fixed seat (11), the fixed seat (11) is connected with the bearing sleeve, one end of the supporting connecting rod a (8) is hinged with the nut sleeve a (13), the other end is hinged with one end of the supporting connecting rod b (9), the other end of the supporting connecting rod b (9) is hinged with the sliding block a (16), an output shaft of the adjusting motor (17) is connected with a driving screw rod (35) through a bearing sleeve and a fixed seat (11), the nut sleeve a (13) is in threaded connection with the driving screw rod (35), one end of the supporting guide rod (7) is fixedly connected with the nut sleeve a (13), the other end of the supporting guide rod is connected with the fixed seat (11), the pressure spring a (14) is connected with the nut sleeve a (13) and the sliding block a (16) through the supporting guide rod (7), and the pressure spring b (10) is connected with the sliding block a (16) and the fixed seat (11) through the support guide rod (7).

3. Walking device of a ventilation duct cleaning robot according to claim 2, characterized in that said front (2) and rear (4) holding structures are identical and each comprise: the device comprises a rack (19), a retainer (24), a retaining connecting rod a (20), a retaining connecting rod b (22), a retaining wheel (21), a pressure spring c (23), a supporting shaft (25), a slider b (26) and a hexagonal nut (27); the retainer (24) is connected with the rack (19), one end of the retaining connecting rod a (20) is hinged to the retainer (24), the other end of the retaining connecting rod b (22) is hinged to one end of the retaining connecting rod b (26), the other end of the retaining connecting rod b (22) is hinged to the sliding block b (26), one end of the supporting shaft (25) is connected with the retainer (24) through the sliding block b (26), the other end of the supporting shaft (25) is in threaded connection with the hexagonal nut (27), and the pressure spring c (23) is fixed to the sliding block b (26) and the hexagonal nut (27) through the supporting shaft (25) respectively.

4. The walking device of a ventilation duct cleaning robot as claimed in claim 2 or 3, wherein the supporting wheel mechanisms of the front supporting structure, the rear supporting structure and the retaining wheel mechanisms of the front and rear retaining structures are all three groups and are all distributed at an angle of 120 °.

5. A walking device of a ventilation duct cleaning robot according to claim 1, characterized in that said driving structure (3) comprises: the device comprises a universal joint (28), a driving motor (29), a driving motor shell (30), a retainer ring (32), a bearing (33), an end cover (34), a driving screw rod (35), a nut sleeve (36) and a guide rod (31); the driving motor (29) is installed in a driving motor shell (30), one end of the driving motor shell (30) is connected with an end cover of the universal joint (28), the other end of the driving motor shell is connected with a nut sleeve (36) through a guide rod (31), one end of a driving screw rod (35) is connected with an output shaft of the driving motor (29), and the other end of the driving screw rod is in threaded connection with the nut sleeve (36).

6. The walking device of the ventilation duct cleaning robot according to claim 5, wherein a wire window is arranged on the driving motor casing (30).

7. The walking device of the ventilation duct cleaning robot as claimed in claim 5, wherein the driving structure (3) further comprises a flexible shaft, one end of the flexible shaft is connected with the output shaft of the driving motor through a micro connecting sleeve, and the other end of the flexible shaft is connected with the screw rod.

8. The walking device of the ventilation duct cleaning robot as claimed in claim 1, wherein the control system is installed in a robot motion control box, the control system receives control instructions sent by the control box through a wireless communication unit, so as to realize robot motion control including forward movement, backward movement, stop movement, climbing and the like, and sends detection data of running speed, current voltage of a power supply module, inclination angle of a distribution network wire and the like to an external control system receiving unit.

9. The walking device of the ventilation duct cleaning robot according to claim 3, wherein the sliders a (16) and b (26) are respectively provided with a miniature pressure sensor.

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