WO2019165859A1 - 清洁机器人 - Google Patents

清洁机器人 Download PDF

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Publication number
WO2019165859A1
WO2019165859A1 PCT/CN2019/072007 CN2019072007W WO2019165859A1 WO 2019165859 A1 WO2019165859 A1 WO 2019165859A1 CN 2019072007 W CN2019072007 W CN 2019072007W WO 2019165859 A1 WO2019165859 A1 WO 2019165859A1
Authority
WO
WIPO (PCT)
Prior art keywords
negative pressure
crawler
cleaning robot
joint
suction cup
Prior art date
Application number
PCT/CN2019/072007
Other languages
English (en)
French (fr)
Inventor
陈涛
Original Assignee
科沃斯机器人股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Publication of WO2019165859A1 publication Critical patent/WO2019165859A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/04—Cleaning by suction, with or without auxiliary action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Definitions

  • the invention relates to the field of robots, and in particular to a cleaning robot capable of absorbing walking.
  • cleaning robots are increasingly entering daily life, not only can free hands, but also can replace some dangerous cleaning work.
  • a cleaning robot as an example, it is possible to clean walls such as high glass curtain walls, windows, and solar panels with poor working conditions.
  • these wall surfaces are not horizontal and have a large inclination angle. Therefore, how to ensure that the cleaning robot is effectively adsorbed on the wall during the walking process and during the cleaning process does not fall, and various factors need to be considered.
  • the present invention provides a cleaning robot comprising: a pair of crawlers, a first drive wheel, a plurality of crawler chucks, and a negative pressure assembly, wherein a pair of the crawler belts are oppositely disposed, the first drive wheel For driving the crawler belt, a plurality of the crawler suction cups are disposed on an outer surface of the crawler belt, and the negative pressure component is in communication with the crawler suction cup; the negative pressure component includes a negative pressure source, an output joint, and a second drive wheel.
  • the output connector is in communication with the negative pressure source, the second drive wheel is configured to drive the output joint to rotate; a ratio ⁇ 1 of the linear velocity of the first drive wheel to the second drive wheel is equal to a track length The ratio ⁇ 2 to the circumference of the second drive wheel.
  • the cleaning robot further includes a concentric wheel coaxial with the first driving wheel, the ratio of the first driving wheel to the concentric wheel radius is ⁇ 1, the concentric wheel and the second driving The wheels are connected by a timing belt.
  • the negative pressure assembly further includes a rotary joint that communicates the output joint with the negative pressure source, the rotary joint including a sleeve connected to the negative pressure source, located in the sleeve a rotating body and a gas path; the output joint and the second driving wheel are both fixed to the rotating body; the gas path comprises opening on the sleeve and penetrating the sleeve in a radial direction thereof a vent, an annular air groove provided on an outer circumferential surface of the rotating body and matched with the vent, and a pipe disposed inside the rotating body and communicating the annular air groove and the output joint.
  • the rotary joint further includes a seal sleeve between the rotating body and the sleeve for sealing the annular gas groove.
  • the pipe includes a gas pipe extending axially along the rotating body and communicating with the output joint, and a communicating pipe radially communicating the annular gas groove and the gas pipe along the rotating body .
  • the rotary joint further includes a cover fixed to the rotating body, the side of the cover facing away from the rotating body being fixed to the second driving wheel; There are perforations for the output fitting to pass through.
  • the negative pressure assembly may include a plurality of the output joints, and the rotary joint is provided with a plurality of gas passages in one-to-one correspondence with the output joints.
  • the source of negative pressure is fixed to the output connection, and the second drive wheel is fixed to the output connection and/or the source of negative pressure.
  • the negative pressure assembly further includes a fixing bracket, a rotating bracket rotatably sleeved outside the fixing bracket, the fixing bracket being fixed relative to the cleaning robot, the rotating bracket being away from the One side of the fixing bracket is fixed to the second driving wheel; the rotating bracket and the second driving wheel are each provided with a through hole for the output joint to pass through.
  • the negative pressure source obtains a power source by wireless power supply; or the negative pressure component further includes a fixing bracket, and the negative pressure source obtains power through a matching slip ring and a brush, the sliding The ring and the brush are disposed on the negative pressure source and the fixing bracket.
  • the negative pressure component includes a plurality of the output connectors, and at this time, the rotating bracket and the second driving wheel are respectively provided with a plurality of through holes corresponding to the output connectors.
  • the invention has the beneficial effects that the cleaning robot of the present invention, by the ratio ⁇ 1 of the linear velocity of the first driving wheel and the second driving wheel is equal to the ratio ⁇ 2 of the track length to the circumference of the second driving wheel,
  • the rotary joint rotates synchronously with the crawler suction cup, so that the connecting pipe connecting the crawler suction cup and the negative pressure component can be prevented from intertwining with each other, and the supply of the suction suction cup can ensure the supply flow of the negative pressure can be ensured regardless of the rotation of the crawler suction cup.
  • FIG. 1 is a schematic view showing the overall structure of a cleaning robot of the present invention.
  • FIG 2 is a partial structural view of the cleaning robot of the present invention after removing the outer casing.
  • FIG. 3 is a schematic view of the walking module of the cleaning robot shown in FIG. 1.
  • FIG. 4 is a schematic structural view of a vacuum assembly of the cleaning robot shown in FIG. 1.
  • Figure 5 is an exploded view of Figure 4.
  • Figure 6 is a cross-sectional view taken along line A-A of Figure 4.
  • Figure 7 is a schematic view showing the structure of the negative pressure component of the cleaning robot shown in Figure 1 in another embodiment.
  • Figure 8 is an exploded view of Figure 7.
  • FIG. 9 is a schematic view of a partial walking module of the cleaning robot of the present invention.
  • Figure 10 is a view of Figure 9 taken along the X direction.
  • Fig. 11 is a perspective view of a pressure valve of the cleaning robot shown in Fig. 1.
  • Figure 12 is a cross-sectional view of the pressure valve shown in Figure 11 taken along the line B-B in a pressure relief state.
  • Figure 13 is a schematic view showing the structure of the pressure valve shown in Figure 12 during the transition of the piston.
  • Figure 14 is a schematic view showing the structure of the pressure valve shown in Figure 12 in a non-pressure relief state.
  • Fig. 15 is a schematic view showing the state of the cleaning robot of the present invention at the time of turning.
  • the cleaning robot 100 of the present invention is used for cleaning wall surfaces such as glass curtain walls, windows, and solar panels.
  • the cleaning robot 100 mainly includes a casing 1, a body 2, a walking module 3 for walking on a wall surface, an adsorption module 4 for fixing on a wall surface, a cleaning module 5 for cleaning a wall surface, and an edge for detecting a wall surface and an obstacle.
  • a sensor module (not shown) and a control module 6; the control module 6 can be in communication with other modules.
  • the following describes "wall surface” as a “working surface” or “walking surface” or “surface to be cleaned” when describing different modules.
  • the adsorption module 4 mainly includes a vacuum source 41 and a main suction cup 42 located at the bottom of the cleaning robot 100, so that the cleaning robot 100 can be attracted to a wall surface, such as a glass curtain wall, a window, a solar panel, or the like.
  • the main suction cup 42 has an adsorption state and a non-adsorption state, wherein "the main suction cup 42 is in an adsorption state", and the following description may be selected in different positions or scenarios herein: the main suction cup 42 works, or the The main suction cup 42 is in an working state, or the main suction cup 42 is adsorbed to the surface to be cleaned, etc.; "the main suction cup 42 is in a non-adsorbing state", and the following description may be selected in different positions or scenes herein: the main The suction cup 42 does not operate, or the main suction cup 42 is in a non-operating state, or the main suction cup 42 is released from pressure or the like.
  • the cleaning module 5 comprises a dust box for storing dust, a cleaning head, an automatic lifting brush provided on the cleaning head for sweeping dust into the dust box, and a high efficiency brushless motor for vacuuming, the cleaning module 5Blowing, sweeping and sucking simultaneously, it can remove 99% surface area dust of glass curtain wall, window and solar panel, improve the photoelectric conversion efficiency of solar panel, save water and human resources, and improve the efficiency of photovoltaic power generation.
  • the sensor module can be used to detect wall edges, gaps, obstacles, etc., to facilitate automatic planning of the course of action.
  • the walking module 3 is used for moving the cleaning robot 100 on the wall surface, and mainly comprises a pair of oppositely disposed crawler belts 31, a driving mechanism 32 for driving the crawler belt 31 to rotate, a plurality of crawler chucks 33 disposed on the outer surface of the crawler belt 31, and the The negative pressure assembly 34 is connected to the crawler suction cup 33.
  • the driving mechanism 32 includes a motor-driven gearbox, a first driving wheel 321 and a driven wheel 322 connected to the gearbox, and the first driving wheel 321 and the driven wheel 322 are distributed in the longitudinal direction of the crawler belt 31. On both sides, the drive mechanism 32 is used to adjust the rotational direction and rotational speed of the crawler belt 31.
  • the crawler belt 31 includes a working area parallel to the walking surface and facing the walking surface; when the walking module is in normal operation, part of the crawler suction cup 33 located in the working area can be adsorbed on the walking surface, and the other crawler suction cups 33 located in the non-working area are separated. Walking surface.
  • the track chuck 33 alternates between the work area and the non-work area as the track 31 rotates.
  • the crawler suction cup 33 When the crawler suction cup 33 is switched from the working area to the non-working area, the crawler suction cup 33 can be directly separated from the wall surface by an external force; or the negative pressure component 34 can be provided to reversely inflate the pressure relief;
  • the pressure assembly relieves the crawler suction cup 33, and the pressure relief assembly may be of a pressure valve 35 or the like.
  • the negative pressure component 34 includes a negative pressure source 341, an output joint 342 that communicates with the negative pressure source 341, and a second drive wheel 343 that drives the output joint 342 to rotate; the first drive wheel 321 and the first
  • the ratio ⁇ 1 of the linear velocity of the two driving wheels 343 is equal to the ratio ⁇ 2 of the length of the crawler belt 31 to the circumference of the second driving wheel 343, that is, the output joint 342 rotates in synchronization with the crawler chuck 33.
  • the walking module 3 further includes a concentric wheel (not labeled) coaxial with the first driving wheel 321 , the ratio of the first driving wheel 321 to the concentric wheel radius is ⁇ 1, the concentric wheel and the The second drive wheels 343 are connected by a timing belt 344.
  • the present invention provides two specific embodiments.
  • the output connector 342 is fixedly connected to the negative pressure source 341, the second driving wheel 343 and the output connector 342 and/or the negative pressure source 341
  • the phase is directly or indirectly fixed by other structures; the negative pressure source 341 and the output connector 342 are both rotated in synchronization with the crawler chuck 33.
  • “fixed” can be understood as being integrated directly or indirectly, and the two do not move relative to each other.
  • the negative pressure assembly 34 further includes a fixing bracket 346 fixed to the cleaning robot 100, and a rotating bracket 348 rotatably sleeved outside the fixing bracket 346 through the bearing 347, and away from the rotating bracket 348.
  • One side of the fixing bracket 346 is fixed to drive the second driving wheel 343 of the rotating bracket 348 to rotate.
  • the rotating bracket 348 has a fixing member 3481 protruding into the second driving wheel 343.
  • the second driving wheel 343 has a fixing hole 3431 for receiving the fixing member 3481.
  • the ratio ⁇ 1 of the linear velocity of the first driving wheel 321 and the second driving wheel 343 is equal to a ratio ⁇ 2 of the length of the crawler belt 31 to the circumference of the second driving wheel 343, so that the output joint 342 and the The crawler suction cups 33 are rotated in synchronization.
  • the fixing bracket 346 has a hollow portion, and the negative pressure source 341 is located in the hollow portion and is rotatable relative to the fixing bracket 346.
  • the rotating bracket 348 and the second driving wheel 343 are respectively provided with a through hole 349 through which the output joint 342 passes.
  • the output joint 342 is located within the perforation 349.
  • the concentric wheel is driven by the timing belt 344 to synchronously rotate the second driving wheel 343 and the rotating bracket 348, and simultaneously with the second driving wheel 343 and The output joint 342 and the negative pressure source 341, which are relatively fixed to the rotating bracket 348, also achieve synchronous rotation.
  • the negative pressure component 34 can include a plurality of the output joints 342.
  • the rotating bracket 348 and the second driving wheel 343 are respectively provided with a plurality of through holes 349 corresponding to the output joints 342.
  • the individual perforations 349 are spaced apart, preferably symmetrically.
  • the negative pressure source 341 obtains a power source by wireless power supply mode; or obtains power by matching a brush and a slip ring disposed on the negative pressure source 341 and the fixing bracket 346.
  • the output connector 342 is directly fixed to the negative pressure source 341, and does not require other air path connections, thereby avoiding the problem of poor airtightness and reducing power consumption.
  • the negative pressure assembly 34 further includes a rotary joint 340 for rotatably connecting the output joint 342 and the negative pressure source 341, the negative pressure source 341 is fixed, and the output joint 342 is The crawler suction cups 33 are rotated in synchronization.
  • the rotary joint 340 includes a hollow sleeve 34a for connection with the negative pressure source 341, a rotating body 34c connected to the sleeve 34a via a bearing 34b, and the output joint 342 and the negative pressure.
  • the output joint and the second drive wheel 343 are both directly fixed to the rotating body 34c or indirectly through other structural members; "fixed” can be understood as being directly or indirectly integrated, and the two are not relatively moved.
  • the rotary joint 340 further includes a casing 34d fixed to the rotating body 34c, a bearing 34j between the casing 34d and the sleeve 34a, and the casing 34d facing away from the casing 34d.
  • a second drive wheel (not shown) that is fixed to one side of the rotating body 34c.
  • the air passage includes a vent 34e that is opened on the sleeve 34a and penetrates the sleeve 34a in a radial direction thereof, a ring provided on an outer circumferential surface of the rotating body 34c and mated with the vent 34e.
  • the air groove 34f communicates with the conduit of the annular air groove 34f and the output joint 342 inside the rotating body 34c.
  • the pipe includes a gas pipe 34h extending in the axial direction of the rotating body 34c and communicating with the output joint 342, and radially communicating the annular gas groove 34f and the gas pipe 34h along the rotating body 34c.
  • the communication tube 34g is provided on the sleeve 34a and penetrates the sleeve 34a in a radial direction thereof, a ring provided on an outer circumferential surface of the rotating body 34c and mated with the vent 34e.
  • the air groove 34f communicates with the conduit of the annular air groove 34f and the output joint 342 inside the rotating
  • the sleeve 34a is fixed to the negative pressure source 341, and the vent 34e is connected to the plurality of output ports of the negative pressure source 341.
  • the vent 34e is always in communication with the annular air groove 34f.
  • the rotary joint 340 further includes the rotating body 34c and the A seal sleeve 34i for sealing the annular gas groove 34f between the sleeves 34a.
  • the vent 34e is connected to the negative pressure source 341, and the gas path connects the negative pressure source 341 with the output joint 342.
  • the rotating body 34c is fixed to the output joint 342 toward a side of the casing 34d, and the casing 34d has a perforation through which the output joint 342 passes.
  • the ratio ⁇ 1 of the linear velocity of the first driving wheel 321 and the second driving wheel 343 is equal to a ratio ⁇ 2 of the length of the crawler belt 31 to the circumference of the second driving wheel 343, so that the output joint 342 and the The crawler suction cups 33 are rotated in synchronization.
  • the concentric wheel drives the second driving wheel and the casing 34d to rotate synchronously through the transmission of the timing belt 344, and the casing 34d drives the output joint 342 and The rotating body 34c rotates in synchronization with the crawler chuck 33.
  • the negative pressure component 34 may include a plurality of the output joints 342.
  • the rotary joint 340 is provided with a plurality of gas passages corresponding to the output joints 342.
  • the vents 34e of the different gas passages are axially spaced along the sleeve 34a, and the annular gas grooves 34f of the different gas passages are spaced apart along the axial direction of the rotating body 34c and the partition walls between the adjacent annular gas grooves 34f and
  • the sleeve 34a is sealed by a sealing sleeve 34i, and the air tubes 34h of different gas passages are arranged side by side in the rotating body 34c and correspond to the arrangement of the output joint 342 on the rotating body 34c.
  • the negative pressure assembly 34 provides a plurality of negative pressures to the plurality of the crawler suction cups 33 in a plurality of forms: when a negative pressure source 341 is used to simultaneously supply a negative pressure to all of the crawler suction cups 33, one of the crawler suction cups 33 is released. At this time, the degree of vacuum of the entire crawler chuck 33 is affected and the cleaning robot 100 cannot be attracted to the wall surface, and the walking module 3 cannot operate. When each of the crawler chucks 33 uses a separate negative pressure source 341 to provide a negative pressure, the cost is high.
  • the crawler suction cups 33 are grouped, and each set of crawler suction cups 33 and the negative pressure source 341 are provided with independent air passages, and the negative pressure source 341 passes through the independent air passages for each of the sets of crawler belts.
  • the suction cup 33 provides an independent negative pressure.
  • the crawler suction cups 33 are grouped as follows: during the walking process, the crawler suction cups 33 in the working area are not less than M, M ⁇ 2; the crawler suction cups 33 are divided into N groups. M ⁇ N ⁇ 2.
  • a plurality of the crawler suction cups 33 in the work area belong to at least two different groups; or at least two of the crawler suction cups 33 in the work area belong to different groups. Therefore, when a set of crawler chucks 33 cannot be normally adsorbed on the running surface, the operation of the entire walking module 3 is not affected.
  • the N sets of crawler suction cups 33 are arranged in a large number, and the number of adjacent crawler suction cups 33 belonging to the same group is smaller than the total number of the crawler suction cups 33 simultaneously in the work area, and other crawler belts in the work area at this time.
  • the suction cups 33 belong to other groups and do not affect the operation of the walking module 3 when a set of crawler suction cups 33 is inoperable.
  • the number of the crawler chucks 33 between adjacent ones of the crawler chucks 33 belonging to the same group is smaller than the total number of the crawler chucks 33 simultaneously in the work area.
  • each set of the crawler chucks 33 can be arranged adjacently. At this time, the plurality of sets of the crawler chucks 33 are arranged at intervals.
  • the reference arrangement is: all of the first set of crawler chucks 33, ..., all of the Nth set of crawler chucks 33.
  • the design of the connecting pipe 345 for providing the negative pressure to the same set of crawler chucks 33 is relatively simple.
  • each set of crawler suction cups 33 can also be separated by other sets of crawler suction cups 33, and the arrangement is no longer exhaustive.
  • the total number of the crawler chucks 33 of each group is greater than the number of the crawler chucks 33 at the same time in the working area, the number of the same set of crawler chucks 33 is less than the number of the crawler chucks 33 in the working area; It is ensured that a plurality of crawler suction cups 33 that are simultaneously in the work area belong to at least two groups.
  • any two adjacent crawler suction cups 33 belong to different groups. Compared with the embodiment in which two adjacent crawler suction cups 33 belong to the same group, even if one of the crawler suction cups 33 has a problem, the front and rear two The crawler suction cup 33 is still in the work area, and the adsorption effect is well ensured.
  • the two crawler chucks 33 before and after each of the crawler chucks 33 belong to different groups, so that when any one of the crawler chucks 33 before and after the crawler chuck 33 is inoperable
  • Another adjacent crawler suction cup 33 operates simultaneously with the crawler suction cup 33 to avoid the problem of unstable adsorption due to a decrease in the total suction force of the local running surface.
  • the selection and arrangement of the crawler chucks 33 in each cycle group are selected from any one of the above arrangements, or the above rows are satisfied.
  • the cloth is limited and will not be described here.
  • the arrangement of the crawler chucks 33 in the adjacent two cycle groups is the same or different.
  • this embodiment takes four sets of crawler chucks 33 as an example.
  • the negative pressure component 34 has four output joints 342, and each of the output joints 342 is connected to one of the crawler chucks 33 through a separate connecting pipe 345.
  • the rotary joint has four independent gas passages, and is connected to the negative pressure source 341 through the four vents 34e.
  • the numbers 1, 2, 3, and 4 near the crawler chuck 33 represent groups, which are arranged in the following manner: a first set of crawler chucks 33, a second set of crawler chucks 33, a third set of crawler chucks 33, and a fourth set of crawler chucks 33.
  • the adjacent four crawler suction cups 33 are used as one cycle group, and the four sets of crawler suction cups 33 in the adjacent two cycle groups are arranged in the same manner.
  • the plurality of crawler suction cups 33 are simultaneously in the working area, and even if one of the crawler suction cups 33 loses the suction function, the cleaning robot 100 does not fall down; therefore, when there are gaps or cracks or protrusions on the wall surface, the wall surfaces on both sides of the gap are defined for convenience of description.
  • the first wall surface and the second wall surface respectively are located, and the crawler suction cup 33 located at the gap cannot be adsorbed, but the other crawler suction cups 33 adjacent thereto can still be adsorbed on the wall surface, so that the first wall surface can be crossed from the gap to the second The wall travels. That is, the walking module 3 can span the gap of two adjacent side-by-side wall surfaces, for example, the cleaning robot 100 can walk from one solar panel to another across the gap of two adjacent solar panels.
  • the cleaning robot 100 travels from the first wall to the second wall surface, and the crawler suction cup 33 in the front of the plurality of crawler chucks 33 in the working area is released when the gap is at the gap, so that the adsorption function is not provided;
  • the other group of crawler suction cups 33 on the rear side adsorbs the cleaning robot 100 on the first wall surface; the crawler suction cup 33 that continues to the front side is located on the second wall surface and is adsorbed on the second wall surface, and the crawler belt is located at the gap.
  • the suction cup 33 does not absorb pressure, and the crawler suction cups 33 of the other groups on the rear side thereof are still adsorbed on the first wall surface; proceeding to all the crawler suction cups 33 in the working area on the second wall surface, the cleaning robot 100 is completed. A span from the first wall facing the second wall.
  • the plurality of crawler chucks 33 on the crawler belt 31 are alternately adsorbed on the working surface; when the crawler gripper 33 is switched from the working area to the non-working area, the pressure is released from the wall surface by pressure relief.
  • the walking module 3 further includes a pressure valve 35 connected between the negative pressure source 341 and the crawler chuck 33.
  • the pressure valve 35 is fixed on the crawler belt 31 to enable communication.
  • the crawler suction cup 33 and the negative pressure source 341 supply a negative pressure to the crawler suction cup 33 and can communicate with the crawler suction cup 33 and the atmosphere to achieve pressure relief.
  • the pressure valve 35 of the present invention includes a hollow valve body 351 having an opening, a piston rod 353 inserted from the opening into the valve body and being drivable inside and outside, and a sleeve that is always located inside the valve body 351 A seal ring 354 on the piston rod 353, a seal 358, and a cover 352 for shielding the opening.
  • the cover 352 is provided with an opening for the piston rod 353 to pass through, and the sealing ring 354 and the sealing member 358 are sealingly engaged with the inner wall of the valve body 351.
  • the piston rod 353 is provided with a first positioning portion and a second positioning portion that are recessed inwardly along the radial direction of the piston rod 353.
  • the sealing member 358 is disposed in the first positioning portion, and the sealing ring 354 is disposed. It is disposed in the second positioning portion.
  • a first through hole 3511, a second through hole 3512, and a third through hole 3513 penetrating the valve body 351 are defined in the valve body 351.
  • the first through hole 3511, the second through hole 3512, and the third through hole 3513 are respectively configured to communicate with the atmosphere, communicate with a working member that needs to provide a negative pressure, and communicate with a negative pressure component that provides a negative pressure to provide a negative pressure. The work piece releases the pressure.
  • the application of the pressure valve 35 of the present invention in the cleaning robot 100 will be described in detail below.
  • the first through hole 3511, the second through hole 3512, and the third through hole 3513 are respectively referred to as an atmosphere through hole 3511 communicating with the atmosphere according to the use thereof, and a suction cup joint 3512 for communicating with the crawler chuck 33 for The negative pressure connector 35 is connected to the negative pressure connector 3513.
  • the first through hole 3511 may communicate with the negative pressure component 34
  • the third through hole 3513 may communicate with the atmosphere.
  • the pressure valve 35 has a first state and a second state.
  • the sealing ring 354 is at least partially disposed between the first through hole 3511 and the second through hole 3512.
  • the second through hole 3512 is in communication with the third through hole 3513.
  • the sealing ring 354 is at least partially located in the second through hole 3512 and the third through hole 3513.
  • the first through hole 3511 is in communication with the second through hole 3512.
  • the first state corresponds to a non-pressure relief state
  • the second state corresponds to a pressure relief state
  • the first through hole 3511 can communicate with the negative pressure component 34 and the third through hole 3513 can communicate with the atmosphere, then
  • the first state corresponds to a pressure relief state
  • the second state corresponds to a non-pressure relief state.
  • the atmospheric through hole 3511 is disposed on a side of the valve body 351 opposite to the cover 352, and the suction joint 3512 and the negative pressure joint 3513 move along the piston rod 353.
  • the direction is set at an intermediate position of the valve body 351.
  • the valve body 351 and the cover body 352 are fixed by screws; and the pressure valve 35 further has a screw hole for fixing the valve body 351 to the crawler belt 31.
  • the pressure valve 35 may include a pushing mechanism 355 that drives the piston rod 353 to be pulled.
  • the pressure valve 35 does not include the pushing mechanism 355, it is necessary to provide a driving assembly to drive the piston rod 353 to pull inside and outside by the external force of the driving assembly.
  • the sealing ring 354 is located between the atmosphere through hole 3511 and the suction cup joint 3512, and the suction cup joint 3512 and The negative pressure joint 3513 is in communication, and the pressure valve 35 is in a non-pressure relief state.
  • the sealing ring 354 moves away from the atmospheric through hole 3511, and the sealing ring 354 completely shields the A suction cup joint 3512, the suction cup joint 3512 is disconnected from the negative pressure joint 3513 and the atmospheric through hole 3511 such that the crawler suction cup 33 maintains a temporary negative pressure.
  • the piston rod 353 is driven to continue to withdraw from the valve body 351, at least part of the structure of the sealing ring 354 is located between the suction cup joint 3512 and the negative pressure joint 3513, the atmosphere through hole 3511 and the suction cup joint
  • the pressure relief valve 35 is in a pressure relief state, and the piston rod 353 is not driven by an external force and is in a free state.
  • the pressure valve 35 ensures that the atmospheric through hole 3512 and the negative pressure joint 3513 are kept blocked during the pressure relief process, and the temporary negative pressure existing in the suction cup is effectively utilized. The pressing process is slow and the vibration is small.
  • the sealing ring 354 when the sealing ring 354 loses the driving force to return to the original state, the sealing ring 354 is entirely located between the suction cup joint 3512 and the negative pressure joint 3513, and the negative pressure joint 3513 and the atmospheric through hole 3511 The sealing effect is better, the negative pressure joint 3513 can ensure an effective negative pressure; thus, the negative pressure component 34 does not need to compensate the negative pressure in the connecting pipe 345 when the corresponding crawler suction cup 33 is again in the working area, to a certain extent Reduced energy consumption.
  • the seal ring 354 includes a first seal ring 3541 and a second seal ring 3542 which are axially spaced apart along the piston rod 353 on a portion of the piston rod 353 located in the valve body 351.
  • the first seal ring 3541 is located at the Between the second sealing ring 3542 and the opening.
  • the height of the seal ring 354 in the moving direction of the piston rod 353 mentioned in the foregoing refers to the embodiment in which the first seal ring 3541 and the second seal ring 3542 are disposed: the first seal ring 3541 and the The distance between the two sides of the second sealing ring 3542 that are away from each other is not less than the distance between the suction cup joint 3512 and the negative pressure joint 3513, and the first sealing ring 3541 and the second sealing ring 3542 are both The valve body 351 is sealingly engaged.
  • the arrangement of the sealing ring 354 of the present invention is not limited thereto. In other embodiments, the sealing ring 354 may be a single integral sealing ring 354 as long as the pressure valve 35 is in the first state.
  • the sealing ring 354 can always block the first through hole 3511 and the second through hole 3512, so as to effectively ensure the blocking between the atmospheric through hole 3512 and the negative pressure connector 3513. And by using the temporary negative pressure existing in the crawler suction cup 33, the pressure relief process is slow and the vibration is small; and the negative pressure source 341 is not connected to the atmosphere and the negative pressure is supplied to the other crawler suction cups 33.
  • the first sealing ring 3541 and the second sealing ring 3542 are located at the atmosphere through hole 3511 and the suction cup joint. Between 3512, the suction cup joint 3512 is in communication with the negative pressure joint 3513.
  • the piston rod 353 When the external driving force of the piston rod 353 is eliminated, the piston rod 353 is pulled out of the valve body 351 by the pushing mechanism 355 or an external force, the first sealing ring 3541 and the second The seal ring 3542 is moved away from the atmosphere through hole 3511, the first seal ring 3541 is located between the suction cup joint 3512 and the negative pressure joint 3513, and the second seal ring 3542 is located at the suction cup When between the joint 3512 and the atmosphere through hole 3511, the suction cup joint 3512 is disconnected from the negative pressure joint 3513 and the atmospheric through hole 3511 so that the crawler suction cup 33 maintains a temporary negative pressure.
  • the piston rod 353 is driven to continue to exit the valve body 351, the second sealing ring 3542 is located between the suction cup joint 3512 and the negative pressure joint 3513, and the atmospheric through hole 3511 is in communication with the suction cup joint 3512. Realize pressure relief.
  • the pressure valve 35 is disposed through the first seal ring 3541 and the second seal ring 3542 to ensure blocking between the atmosphere through hole 3512 and the negative pressure joint 3513 during the pressure relief, and to effectively utilize the The temporary suction pressure of the crawler suction cup 33 is slow, and the vibration is small.
  • the first sealing ring 3541 is also located between the suction cup joint 3512 and the negative pressure joint 3513, the negative The sealing effect between the crimping joint 3513 and the atmospheric through hole 3511 is better, and the negative pressure joint 3513 can ensure an effective negative pressure; thus, when the corresponding crawler suction cup 33 is again located in the working area, the negative pressure component 34 does not need to be Compensating for the negative pressure in the connecting pipe 345 reduces the energy consumption to a certain extent.
  • the pressure valve 35 further includes a rolling bearing 356 fixed to a portion of the piston rod 353 outside the valve body 351 by screws or the like, and the rolling bearing 356 and the piston rod 353 are fixed by screws.
  • the walking module 3 further includes a guide rail 357 extending in a front-rear direction of the crawler belt 31 and moving along a straight line thereof, the rail 357 having a horizontal plane 3571 at a bottom thereof and extending upward and forward from the front end of the horizontal plane 3571
  • the front inclined surface 3572 is a rear inclined surface 3573 extending upward and rearward from the rear end of the horizontal surface 3571.
  • the pressure valve 35 is fixed to the crawler belt 31, and the rolling bearing 356 protrudes toward the inner side.
  • the pushing mechanism 355 includes the guide rail 357, a reset mechanism 359 that is cooperatively disposed between the valve body 351 and/or the cover body 352 and the piston rod 353.
  • the crawler belt 31 continues to rotate, and when the rolling bearing 356 moves to correspond to the rear inclined surface 3573, the pressure received by the piston rod 353 gradually decreases, and the piston rod 353 gradually withdraws from the action by the reset mechanism 359.
  • the valve body 351 to the pressure valve 35 are in a pressure relief state, and the crawler suction cup 33 corresponding thereto is also switched from the work area to the non-working area.
  • the reset mechanism 359 is a spring 359 disposed between the valve body 351 and the piston rod 353. Specifically, the spring 359 is disposed on a side of the valve body 351 opposite to the cover 352 and the piston. Between the bars 353. When the piston rod 353 receives the pressure of the guide rail 357 and pushes into the valve body 351, the spring 359 is compressed; and when the pressure of the guide rail 357 against the piston rod 353 is eliminated, the spring 359 is reset. At the same time, the piston rod 353 is pushed to move outside the valve body 351.
  • the driving assembly is disposed, and the driving assembly is abutted against the piston rod for driving the piston rod to be pulled inside and outside.
  • the drive assembly can be a motor, and the automatic reset speed can be achieved by controlling the pulling of the piston rod 353 by the motor.
  • the seal 358 is disposed adjacent the opening.
  • the sealing member 358 is sleeved on the piston rod 353, and the sealing member 358 is disposed during the pulling process of the piston rod 353 even when the pressure valve 35 is in a non-pressure-reducing state.
  • the seal 358 can also prevent air leakage caused by the third through hole 3513 communicating with the outside.
  • the seal 358 may also be omitted.
  • the various modules of the cleaning robot 100 work together, and can also be separated and applied to other products.
  • the cooperation of the walking module 3 with the adsorption module 4 is particularly important.
  • the walking module 3 works, and the plurality of crawler suction cups 33 on the crawler belt 31 are alternately adsorbed on the working surface; when the cleaning robot 100 is turned, the crawler suction cup 33 does not Working, while the main suction cup 42 is attracted to the work surface, the crawler belt 31 provides steering power to drive the entire cleaning robot 100 to rotate relative to the main suction cup 42 to steer.
  • the walking module 3 includes a pair of oppositely disposed crawler belts 31 and a driving mechanism 32 for driving the crawler belt 31 to rotate;
  • the adsorption module 4 includes a main suction cup 42 connected to the bottom of the cleaning robot, The main suction cup 42 provides a vacuum source 41 of negative pressure;
  • the cleaning robot 100 is rotatably connected with the main suction cup 42;
  • the control module 6 activates the adsorption module 4
  • the main suction cup 42 provides a negative pressure; the control module 6 activates the walking module 3 to move the crawler belt 31 adjacent to the side to be turned rearward, away from the crawler belt 31 on the side to be turned forward Moving; no need to additionally provide a steering mechanism, only the driving mechanism 32 drives a pair of crawler belts 31 to move forward and backward to realize steering, and the control mode is simple.
  • the pair of crawler belts 31 have the same moving speed and the steering is relatively stable. It should be noted that since the cleaning robot 100 rotates relative to the main suction cup 42 during the turning, the crawler belt 31 moves forward or backwards not linearly forward or backward.
  • the adsorption module 4 further includes an upper and lower driving device 7 that drives the main suction cup 42 away from the cleaning robot 100 to be adsorbed on the wall surface or close to the cleaning robot 100 to be separated from the wall surface.
  • the control module 6 activates the adsorption module 4 such that the main suction cup 42 is pressed away from the bottom of the cleaning robot 100 to press against the wall surface, and then provides a negative pressure to the main suction cup 42; when the cleaning robot 100 goes straight
  • the control module 6 controls the upper and lower driving devices 7 such that the main suction cup 42 is close to the bottom of the cleaning robot 100, separating from the wall surface, reducing friction or preventing the main suction cup 42 from being worn.
  • the control module 6 controls the adsorption module 4 to release the pressure of the main suction cup 42. Reduce friction.
  • the walking module comprises a plurality of crawler suction cups disposed on the outer surface of the crawler, a negative pressure component for providing a negative pressure to the crawler suction cup, and a pressure valve 35 for releasing the crawler suction cup
  • the working mode is: the cleaning robot 100 is required
  • the control module 6 drives the adsorption module 4
  • the upper and lower driving device 7 drives the main suction cup 42 to move downward and adsorbs the cleaning robot 100 to the wall surface
  • the crawler suction cup 33 stops working
  • a pair of crawlers The 31 moves forward and backward, respectively, so that the body 2 is rotated toward the side of the crawler belt 31 that rotates rearward.
  • the body 2 rotates stably around the main suction cup 42 without side slip; in addition, when the rotation is stopped, the negative pressure is supplied to the crawler suction cup 33, and the friction between the crawler suction cup 33 and the wall surface during rotation is reduced. Small loss, increased life expectancy.
  • the left crawler belt 31 rotates backward, and the crawler belt 31 of the right crawler rotates forward, so that the body 2 rotates around the suction cup module, and the suction cup module is attached to the working surface to make the machine Body 2 rotates steadily and does not slip.
  • the moving direction of the pair of crawler belts 31 is opposite to that when the left turn is turned, and the right turn motion can be completed.
  • the steering control method of the cleaning robot 100 of the present invention includes the following steps:
  • the control module 6 of S10 activates the upper and lower driving device 7 such that the main suction cup 42 is pressed away from the bottom of the cleaning robot 100 and pressed against the surface to be cleaned;
  • control module 6 activates the adsorption module 4 to provide a negative pressure to the main suction cup 42, and the main suction cup 42 provides an adsorption force to cause the cleaning robot 100 to be attached to the surface to be cleaned;
  • the control module 6 activates the pressure relief component to relieve pressure of the crawler suction cup 33;
  • control module 6 activates the walking module 3, the crawler belt 31 near the side to be turned is moved backward, and the crawler belt 31 away from the side to be turned forward moves forward;
  • the control module 6 controls the negative pressure component 34 to provide a negative pressure to the crawler suction cup 33, and controls the pressure relief valve to relieve the main suction cup 42. At this time, the crawler suction cup 33 has been adsorbed to the work surface, and the cleaning robot can be subsequently switched to the straight motion state.
  • the present invention also provides an operation control method of the cleaning robot 100, comprising the following steps:
  • the main suction cup 42 is adsorbed on the surface to be cleaned, the crawler suction cup 33 is in a non-adsorbing state, and the walking module 3 drives the body of the cleaning robot 100 to rotate relative to the main suction cup 42 to complete the steering of the cleaning robot 100; the specific method of completing the steering Refer to the steering control method of the cleaning robot 100, and details are not described herein again;
  • the crawler suction cup 33 is attracted to the cleaning surface, and the main suction cup 42 is in a non-adsorbed state, and the straight cleaning of the cleaning robot 100 is completed by the alternate suction of the crawler suction cups 33.
  • the cleaning robot 100 of the present invention can be used to clean various wall surfaces, even if the solar panels are spaced apart, or the glass/curtain wall with the bezel, the cleaning robot 100 can also be adjacent to the two solar energy Span between panels without manual movement.

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  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
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Abstract

一种清洁机器人，包括相对设置的一对履带（31）、驱动履带转动的第一驱动轮（321）、设置在履带（31）外表面的多个履带吸盘（33）、与履带吸盘（33）连通的负压组件；负压组件包括负压源（341）、与负压源（341）相连通的输出接头（342）、驱动输出接头（342）旋转的第二驱动轮（343）；第一驱动轮（321）与第二驱动轮（343）的线速度的比例ρ1等于履带长度与第二驱动轮的周长的比例ρ2。该清洁机器人，输出接头与履带吸盘同步旋转，能够避免连接履带吸盘与负压组件的连接管相互缠绕，保证履带吸盘无论转动至任何位置均可以保证负压的供应气路连通。

Description

清洁机器人
交叉引用
本申请要求于2018年03月02日提交中国专利局、申请号为201810173970.X、申请名称为“清洁机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及机器人领域，尤其涉及一种可吸附行走的清洁机器人。
背景技术
目前，清洁机器人越来越多地进入到日常生活中，不但能够解放双手，还能够代替人工进行一些危险的清洁工作。以清洁机器人为例，可以清洁较高的玻璃幕墙、窗户、工作环境恶劣的太阳能电池板等壁面。然而这些壁面并非水平面，倾斜角度较大，因此如何保证清洁机器人在行走过程中、清洁过程中是否有效地吸附在壁面上不掉落，需要考虑多方面的因素。
另外，玻璃幕墙、窗户、太阳能电池板之间存在间隙或边框，现有的清洁机器人无法跨越间隙或边框行走，需要人工搬运，给清洁工作带来不便。
有鉴于此，有必要对现有的清洁机器人予以改进，以解决上述问题。
发明内容
本发明的目的在于提供一种可吸附行走的清洁机器人。
为实现上述目的，本发明提供了一种清洁机器人，包括：一对履带、第一驱动轮、多个履带吸盘以及负压组件，其中，一对所述履带相对设置，所述第一驱动轮用于驱动所述履带转动，多个所述履带吸盘设置在履带外表面，所述负压组件与所述履带吸盘连通；所述负压组件包括负压源、输出接头以及第二驱动轮，所述输出接头与所述负压源相连通，所述第二驱动轮用于驱动所述输出接头旋转；所述第一驱动轮与所述第二驱动轮的线速度的比例ρ1等于履带长度与第二驱动轮的周长的比例ρ2。
作为本发明的进一步改进，所述清洁机器人还包括与第一驱动轮共轴的同心轮，所述第一驱动轮与所述同心轮半径比为ρ1，所述同心轮与所述第二驱动轮通过同步带连接。
作为本发明的进一步改进，所述负压组件还包括连通所述输出接头与所述负压源的旋转接头，所述旋转接头包括与所述负压源连接的套筒、位于所述套筒内的旋转主体以及气路；所述输出接头和所述第二驱动轮均与所述旋转主体相固定；所述气路包括开设于所述套筒上且沿其径向贯穿所述套筒的通气口、设于所述旋转主体的外周面且与所述通气口相配合的环形气槽、设于所述旋转主体内部并连通所述环形气槽与所述输出接头的管路。
作为本发明的进一步改进，所述旋转接头还包括位于所述旋转主体与所述套筒之间用于密封所述环形气槽的密封套。
作为本发明的进一步改进，所述管路包括沿所述旋转主体轴向延伸且与所述输出接头连通的气管、沿所述旋转主体径向连通所述环形气槽与所述气管的连通管。
作为本发明的进一步改进，所述旋转接头还包括与所述旋转主体相固定的罩壳，所述罩壳背离所述旋转主体的一侧与第二驱动轮相固定；所述罩壳上设有供所述输出接头穿过的穿孔。
作为本发明的进一步改进，所述负压组件可包括多个所述输出接头，所述旋转接头设有多个与所述输出接头一一对应的气路。
作为本发明的进一步改进，所述负压源与所述输出接头相固定，所述第二驱动轮与所述输出接头和/或所述负压源相固定。
作为本发明的进一步改进，所述负压组件还包括固定支架、可转动地套设在所述固定支架外侧的旋转支架，所述固定支架相对所述清洁机器人固定，所述旋转支架远离所述固定支架的一侧与所述第二驱动轮相固定；所述旋转支架与所述第二驱动轮均设有供所述输出接头穿过的穿孔。
作为本发明的进一步改进，所述负压源通过无线供电方式获得电源；或所述负压组件还包括固定支架，所述负压源通过相配合的滑环与电刷获得电源，所述滑环、所述电刷分设于所述负压源、所述固定支架上。
作为本发明的进一步改进，所述负压组件包括多个所述输出接头，此时所述旋转支架和所述第二驱动轮上均设有多个与所述输出接头一一对应的穿孔。
本发明的有益效果是：本发明的清洁机器人，通过所述第一驱动轮与所述第二驱动轮的线速度的比例ρ1等于履带长度与第二驱动轮的周长的比例ρ2,所述旋转接头与所述履带吸盘同步旋转，能够避免连接履带吸盘与负压组件的连接管相互缠绕，保证所述履带吸盘无论转动至任何位置均可以保证负压的供应气路连通。
附图说明
图1是本发明的清洁机器人的整体结构示意图。
图2是本发明的清洁机器人移除外壳后的部分结构示意图。
图3是图1所示的清洁机器人的行走模块示意图。
图4是图1所示的清洁机器人的负压组件的结构示意图。
图5是图4的分解图。
图6是图4沿A-A方向的剖视图。
图7是图1所示的清洁机器人的负压组件于另一实施例中的结构示意图。
图8是图7的分解图。
图9是本发明的清洁机器人的部分行走模块示意图。
图10是图9沿X方向的视图。
图11是1所示的清洁机器人的压力阀的立体图。
图12是图11所示的压力阀在泄压状态时沿B-B方向的剖视图。
图13是图12所示的压力阀在活塞抽拉的过渡过程中的结构示意图。
图14是图12所示的压力阀在非泄压状态时的结构示意图。
图15时本发明的清洁机器人在转向时的状态示意图。
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面结合附图和具体实施例对本发明进行详细描述。
如图1至图15所示，为本发明的清洁机器人100，用以清洁玻璃幕墙、窗户、太阳能电池板等壁面。清洁机器人100主要包括外壳1、机身2、用于在壁面行走的行走模块3、用于固定在壁面上的吸附模块4、用于清洁壁面的清洁模块5、用于检测壁面边缘、障碍物等的传感器模块(未图示)和控制模块6；所述控制模块6可与其他模块均通讯连接。为了描述方便，以下在描述不同的 模块时又将“壁面”称为“工作表面”或“行走表面”或“待清洁表面”。
吸附模块4主要包含真空源41和位于所述清洁机器人100底部的主吸盘42，能够使得清洁机器人100吸附在壁面上，例如玻璃幕墙、窗户、太阳能电池板等。所述主吸盘42具有吸附状态和非吸附状态，其中“所述主吸盘42处于吸附状态”，在本文的不同位置或场景下可选择采用以下描述方式：所述主吸盘42工作，或所述主吸盘42处于工作状态，或所述主吸盘42吸附于待清洁表面等；“所述主吸盘42处于非吸附状态”，在本文的不同位置或场景下可选择采用以下描述方式：所述主吸盘42不工作，或所述主吸盘42处于非工作状态，或所述主吸盘42泄压等。
清洁模块5包含用于存放尘土的尘盒、清洁头、设于清洁头上用于将灰尘扫入尘盒储存的自动升降式滚刷、用于吸尘的高效无刷电机，所述清洁模块5吹、扫、吸同步完成，能去除玻璃幕墙、窗户、太阳能电池板的99％表面积尘，提升太阳能电池板的光电转换效率，节约了水与人力资源，提升了光伏发电的效益。
传感器模块可用于检测壁面边缘、间隙、障碍物等，便于自动规划行动路线。
行走模块3用于清洁机器人100在壁面上移动，主要包含相对设置的一对履带31、驱动所述履带31转动的驱动机构32、设置在履带31外表面的多个履带吸盘33、与所述履带吸盘33连通的负压组件34。
所述驱动机构32包括电机驱动的变速箱、与所述变速箱连接的第一驱动轮321及从动轮322，所述第一驱动轮321和所述从动轮322分布于所述履带31长度方向的两侧，所述驱动机构32用于调节所述履带31的转动方向和转动速度。
所述履带31包括与行走表面平行并面向行走表面的工作区域；行走模块正常运行时，位于所述工作区域的部分履带吸盘33可吸附于行走表面，位于非工作区域的其他履带吸盘33则离开行走表面。所述履带吸盘33随着所述履带31的转动交替地在工作区域和非工作区域切换。
所述履带吸盘33由工作区域向非工作区域转换时，可以通过外力直接将所述履带吸盘33与壁面分开；也可以通过设置所述负压组件34反向充气泄压；也可以另外设置泄压组件给所述履带吸盘33泄压，所述泄压组件可以选用压力阀35等结构。
所述负压组件34包括负压源341、与所述负压源341连通的输出接头342、驱动所述输出接头342旋转的第二驱动轮343；所述第一驱动轮321与所述第二驱动轮343的线速度的比例ρ1等于所述履带31的长度与第二驱动轮343的周长的比例ρ2，也即所述输出接头342与所述履带吸盘33同步旋转。从而能够避免连接履带吸盘33与负压组件34的连接管345相互缠绕，保证所述履带吸盘33无论转动至任何位置均可以保证负压的供应气路连通。具体地，所述行走模块3还包括与第一驱动轮321共轴的同心轮(未标号)，所述第一驱动轮321与所述同心轮半径比为ρ1，所述同心轮与所述第二驱动轮343通过同步带344连接。
为了实现所述输出接头342的旋转，本发明提供两种具体实施例。
实施例一，参考图7和图8所示，所述输出接头342与所述负压源341固定连接，所述第二驱动轮343与所述输出接头342和/或所述负压源341相直接或通过其他结构间接固定；使得所述负压源341、所述输出接头342均与所述履带吸盘33同步旋转。其中，“固定”可以理解为直接或间接地成为一体，两者不会相对移动。
所述负压组件34还包括相对所述清洁机器人100固定不动的固定支架346、通过轴承347可转动地套设在所述固定支架346外侧的旋转支架348、与所述旋转支架348远离所述固定支架346的一侧相固定以带动所述旋转支架348转动的第二驱动轮343。所述旋转支架348上具有凸伸入所述第二驱动轮343内的固定件3481，所述第二驱动轮343上具有用于收容所述固定件3481的固定孔3431。所述第一驱动轮321与所述第二驱动轮343的线速度的比例ρ1等于所述履带31的长度与第二驱动轮343的周长的比例ρ2，以使得所述输出接头342与所述履带吸盘33同步旋转。
具体地，所述固定支架346具有中空部，所述负压源341位于所述中空部内且可相对于该固定支架346转动。所述旋转支架348和所述第二驱动轮343上均设有供所述输出接头342穿过的穿孔349，所述负压源341位于所述旋转支架348和所述固定支架346内时，所述输出接头342位于所述穿孔349内。所述第一驱动轮321驱动所述履带31转动时，所述同心轮通过同步带344的传动使得所述第二驱动轮343和所述旋转支架348同步转动，同时与第二驱动轮343和/或旋转支架348相对固定的所述输出接头342及所述负压源341也实现同步旋转。
所述负压组件34可包括多个所述输出接头342，此时所述旋转支架348和所述第二驱动轮343上均设有多个与所述输出接头342一一对应的穿孔349，各个穿孔349间隔设置，优选对称分布。
本实施例中，所述负压源341通过无线供电方式获得电源；或者通过配合设置在所述负压源341和所述固定支架346上的电刷与滑环获得电源。所述输出接头342与所述负压源341直接固定，无需其他气路连接，可避免出现气密性差的问题并减小了功耗。
实施例二，所述负压组件34还包括用于转动连接所述输出接头342与所述负压源341的旋转接头340，所述负压源341固定不动，所述输出接头342与所述履带吸盘33同步旋转。
所述旋转接头340包括用于与所述负压源341连接的中空的套筒34a、通过轴承34b连接于所述套筒34a内的旋转主体34c、连通所述输出接头342与所述负压源341的气路。所述输出接头和所述第二驱动轮343均与所述旋转主体34c相直接或通过其他结构件间接固定；“固定”可以理解为直接或间接地成为一体，两者不会相对移动。
具体地，所述旋转接头340还包括与所述旋转主体34c相固定的罩壳34d、位于所述罩壳34d与所述套筒34a之间的轴承34j、与所述罩壳34d背离所述旋转主体34c的一侧相固定的第二驱动轮(未图示)。
所述气路包括开设于所述套筒34a上且沿其径向贯穿所述套筒34a的通气口34e、设于所述旋转主体34c的外周面且与所述通气口34e相配合的环形气槽34f、于所述旋转主体34c内部连通所述环形气槽34f与所述输出接头342的管路。所述管路包括于所述旋转主体34c内部沿其轴向延伸且与所述输出接头342连通的气管34h、沿所述旋转主体34c径向连通所述环形气槽34f与所述气管34h的连通管34g。
所述套筒34a相对所述负压源341固定，所述通气口34e与所述负压源341的多个输出口一一对接。所述旋转主体34c相对所述套筒34a旋转时，所述通气口34e始终与所述环形气槽34f连通，为了保证气密性，所述旋转接头340还包括位于所述旋转主体34c与所述套筒34a之间用于密封所述环形气槽34f的密封套34i。所述通气口34e与所述负压源341连接，气路将所述负压源341与所述输出接头342连通。
所述旋转主体34c朝向所述罩壳34d的一侧与所述输出接头342相固定，且 所述罩壳34d上具有供所述输出接头342穿过的穿孔。所述第一驱动轮321与所述第二驱动轮343的线速度的比例ρ1等于所述履带31的长度与第二驱动轮343的周长的比例ρ2，以使得所述输出接头342与所述履带吸盘33同步旋转。所述驱动机构32驱动所述履带31转动时，同心轮通过同步带344的传动进而带动所述第二驱动轮和所述罩壳34d同步转动，所述罩壳34d带动所述输出接头342和所述旋转主体34c均与所述履带吸盘33同步旋转。
进一步地，所述负压组件34可包括多个所述输出接头342，此时，所述旋转接头340中设有多个与所述输出接头342一一对应的气路。不同气路的通气口34e沿所述套筒34a轴向间隔分布，不同气路的环形气槽34f沿所述旋转主体34c的轴向间隔分布且相邻环形气槽34f之间的间隔壁与所述套筒34a通过密封套34i密封，不同气路的气管34h并排位于所述旋转主体34c内且与所述输出接头342在所述旋转主体34c上的排布相对应。
所述负压组件34向多个所述履带吸盘33提供负压的形式有多种：当采用一个负压源341同时向全部履带吸盘33提供负压的方式时，其中一个履带吸盘33泄压时，会影响整个履带吸盘33的真空度而导致清洁机器人100无法吸附在壁面上，所述行走模块3无法工作。当每个履带吸盘33采用独立的负压源341提供负压时，成本较高。
本发明中，将所述履带吸盘33进行分组，每组履带吸盘33与所述负压源341之间设有独立气路，所述负压源341通过该独立气路为所述每组履带吸盘33提供独立负压。
所述履带吸盘33进行分组情况如下：所述清洁机器人100在行走过程中，同时处于工作区域的所述履带吸盘33不少于M个，M≥2；将所述履带吸盘33分成N组，M≥N≥2。
履带31转动至任意位置时，处于工作区域的多个所述履带吸盘33分属于至少两个不同的组；或者，同时处于工作区域的履带吸盘33中至少有两个分属于不同的组。因此，在一组履带吸盘33无法正常吸附在行走表面上工作时，也不影响整个行走模块3的运行。
N组履带吸盘33的排布方式较多，分属于同一组的履带吸盘33相邻排列的个数小于同时处于工作区域的所述履带吸盘33的总个数，此时处于工作区域的其他履带吸盘33属于其他组，在一组履带吸盘33无法工作时，不影响行走模块3的运行。
分属于同一组的相邻所述履带吸盘33之间的所述履带吸盘33的排列个数小于同时处于所述工作区域的所述履带吸盘33的总个数。
当每一组履带吸盘33的总个数小于同时处于工作区域的履带吸盘33的个数时，每一组履带吸盘33可以全部相邻排布，此时多组履带吸盘33间隔排布，可参考的排布方式为：全部第一组履带吸盘33、……、全部第N组履带吸盘33。这种情况下，对同组履带吸盘33提供负压的连接管345路设计较为简单。当然，每一组履带吸盘33也可以被其他组履带吸盘33分隔开排布，排布方式不再穷举。
当每一组履带吸盘33的总个数大于同时处于工作区域的履带吸盘33的个数时，同一组履带吸盘33相连排布的个数要小于处于工作区域的履带吸盘33的个数；才能保证同时处于工作区域的多个履带吸盘33分属于至少两个组。
优选地，任意相邻两个履带吸盘33分属于不同的组，相较于相邻两个履带吸盘33属于同一组的实施例，即使其中一组履带吸盘33出现问题时，其前后的两个履带吸盘33仍然处于工作区域，能够很好地保证吸附效果。
更进一步地，在具有N≥3的实施例中，优选每一履带吸盘33前后的两个履带吸盘33分属于不同的组，因此当所述履带吸盘33的前后任意一个履带吸盘33无法工作时，另一个相邻的履带吸盘33与该履带吸盘33同时工作，可避免因局部行走表面的总吸附力减小而吸附不稳定的问题。
另外，若将在履带31上相连排列的若干个履带吸盘33作为一个循环组，每一循环组内的履带吸盘33的选择和排布方式选自上述任意一种排布方式，或者满足上述排布限定，于此不再赘述。相邻两个循环组中的履带吸盘33的排布方式相同或不同。
如图3，本实施例以4组履带吸盘33为例，所述负压组件34具有4个所述输出接头342，每一个输出接头342通过独立的连接管345与其中一组履带吸盘33连通。并且，在具有旋转接头340的实施例中，所述旋转接头具有4个独立的气路，通过4个通气口34e与负压源341连接。
靠近所述履带吸盘33的编号1、2、3、4代表分组，其排列方式为：第1组履带吸盘33、第2组履带吸盘33、第3组履带吸盘33、第4组履带吸盘33、第1组履带吸盘33、第2组履带吸盘33、第3组履带吸盘33、第4组履带吸盘33……。以相邻4个履带吸盘33为一个循环小组，相邻两个循环组中4组履带吸盘33的排布方式相同。
多个履带吸盘33同时处于工作区域，即使其中一个履带吸盘33失去吸附功能，清洁机器人100也不会掉下来；因此壁面上存在间隙或者裂缝或者凸起时，为了描述方便定义间隙两侧的壁面分别为第一壁面、第二壁面，位于间隙处的所述履带吸盘33无法进行吸附，但与其相邻的其他履带吸盘33仍然可以吸附在壁面上，从而可以从第一壁面跨越间隙向第二壁面行进。即所述行走模块3可以跨越相邻两个并排的壁面的间隙，例如所述清洁机器人100可以跨越相邻两个太阳能电池板的间隙而从一个太阳能电池板行走至另一个太阳能电池板。
具体地，所述清洁机器人100由第一壁面向第二壁面行进过程为，处于工作区域的多个履带吸盘33中靠前的履带吸盘33处于间隙处时泄压，因此不起吸附作用；位于其后侧的其他组的履带吸盘33将所述清洁机器人100吸附在第一壁面上；继续前进至前侧的履带吸盘33位于第二壁面上并吸附在第二壁面上，位于间隙处的履带吸盘33泄压不起吸附作用，而位于其后侧其他组的履带吸盘33仍然吸附在第一壁面上；继续前进至工作区域内的全部履带吸盘33位于第二壁面上，清洁机器人100完成了从第一壁面向第二壁面的跨越。
清洁机器人100行走过程中，履带31上面的多个履带吸盘33交替吸附于工作表面；所述履带吸盘33由工作区域转换至非工作区域时，通过泄压才能与壁面分离。
本实施例中，所述行走模块3还包括连接于所述负压源341与所述履带吸盘33之间的压力阀35，所述压力阀35固定于所述履带31上，以能够连通所述履带吸盘33与所述负压源341给所述履带吸盘33提供负压和能够连通所述履带吸盘33与大气以实现泄压。
本发明的压力阀35包括中空的且具有开口的阀体351、自所述开口插入所述阀体并可被驱动地内外抽拉的活塞杆353、套设于始终位于阀体351内的部分活塞杆353上的密封圈354、密封件358以及用以遮蔽所述开口的盖体352。所述盖体352上设有供所述活塞杆353穿过的开孔，所述密封圈354及密封件358与所述阀体351内壁密封配合。
所述活塞杆353上设有沿所述活塞杆353的径向向内凹陷的第一定位部和第二定位部，所述密封件358设置在所述第一定位部内，所述密封圈354设置在第二定位部内。
所述阀体351上开设有贯穿所述阀体351的第一通孔3511、第二通孔3512 和第三通孔3513。第一通孔3511、第二通孔3512和第三通孔3513分别用于与大气连通、与需要提供负压的工作件连通、与提供负压的负压组件连通，以给需要负压的工作件释放压力。为了方便描述，以下将结合本发明的压力阀35在清洁机器人100中的应用详细说明。其中，第一通孔3511、第二通孔3512和第三通孔3513根据其用途分别被称作与大气连通的大气通孔3511、用于与履带吸盘33连通的吸盘接头3512、用于与负压组件34连通的负压接头3513。当然，在其他实施例中，所述第一通孔3511可以与负压组件34连通，而第三通孔3513可以与大气连通。
所述压力阀35具有第一状态和第二状态，所述压力阀35处于第一状态时，所述密封圈354至少部分结构位于所述第一通孔3511和第二通孔3512之间，所述第二通孔3512与所述第三通孔3513连通，所述压力阀35处于第二状态时，所述密封圈354至少部分结构位于所述第二通孔3512和第三通孔3513之间，所述第一通孔3511与所述第二通孔3512连通。本实施例中，第一状态对应非泄压状态，第二状态对应泄压状态；若所述第一通孔3511可以与负压组件34连通，而第三通孔3513可以与大气连通，则第一状态对应泄压状态，第二状态对应非泄压状态。所述压力阀35在第一状态、第二状态以及第一状态和第二状态之间切换时，所述密封圈354始终阻断第一通孔3511和第三通孔3513；也可以理解为：沿所述活塞杆353移动方向上所述密封圈354的高度不小于所述第二通孔3512的宽度在所述活塞杆353移动方向上的高度。
本实施例中，所述大气通孔3511设置于所述阀体351上与所述盖体352相对的一侧，所述吸盘接头3512与所述负压接头3513沿所述活塞杆353的移动方向设置于所述阀体351的中间位置处。另外，所述阀体351与所述盖体352通过螺钉固定；所述压力阀35上还具有用于将所述阀体351固定于所述履带31上的螺钉孔。
本实施例中，所述压力阀35可以包括驱动所述活塞杆353抽拉的推动机构355。于其他实施例中，所述压力阀35不包括推动机构355时，则需要设置驱动组件，以借助所述驱动组件的外力驱动所述活塞杆353内外抽拉。
所述活塞杆353被所述推动机构355或外力推入所述阀体351内后，所述密封圈354位于所述大气通孔3511与所述吸盘接头3512之间，所述吸盘接头3512与所述负压接头3513连通，所述压力阀35处于非泄压状态。所述活塞杆353被所述推动机构355或外力向外拉出所述阀体351时，所述密封圈354向远离所述 大气通孔3511的方向移动，所述密封圈354完全遮蔽所述吸盘接头3512，所述吸盘接头3512与所述负压接头3513、所述大气通孔3511均断开使得所述履带吸盘33保持暂时的负压。所述活塞杆353被驱动地继续退出所述阀体351，所述密封圈354的至少部分结构位于所述吸盘接头3512和负压接头3513之间，所述大气通孔3511与所述吸盘接头3512连通实现泄压，所述压力阀35处于泄压状态，此时所述活塞杆353不受外力驱动，处于自由状态。所述压力阀35通过所述密封圈354的设置，在泄压的过程中，保证了大气通孔3512和负压接头3513之间保持阻断，同时有效地利用吸盘存在的暂时负压，泄压过程缓慢，震动小。
优选地，所述密封圈354失去驱动力恢复原状态时，所述密封圈354全部位于所述吸盘接头3512和负压接头3513之间，所述负压接头3513与所述大气通孔3511之间的密封效果更佳，所述负压接头3513能够保证有效的负压；从而在相应的履带吸盘33再次处于工作区域时，负压组件34无需补偿连接管345中的负压，在一定程度上降低了能耗。
所述密封圈354包括沿所述活塞杆353轴向间隔分布于位于阀体351内的部分活塞杆353上的第一密封圈3541和第二密封圈3542，所述第一密封圈3541位于所述第二密封圈3542与所述开口之间。前文提及的沿所述活塞杆353移动方向上所述密封圈354的高度在设置第一密封圈3541和第二密封圈3542的实施例中指的是：所述第一密封圈3541和所述第二密封圈3542相互远离的两侧之间的距离不小于所述吸盘接头3512与所述负压接头3513之间的距离，且所述第一密封圈3541和所述第二密封圈3542均与所述阀体351密封配合。另外，本发明的密封圈354的设置并不局限于此，在其他实施例中，如所述密封圈354可以是单个的一整块密封圈354，只要可以保证在压力阀35在第一状态和第二状态之间切换的过程中，所述密封圈354始终阻挡第一通孔3511和第二通3512孔即可，如此有效地保证大气通孔3512和负压接头3513之间阻断，以及利用所述履带吸盘33存在的暂时负压，泄压过程缓慢，震动小；且不会使得所述负压源341连接到大气而影响到给其它履带吸盘33提供负压。
所述活塞杆353被所述推动机构355或外力推入所述阀体351内时，所述第一密封圈3541和所述第二密封圈3542位于所述大气通孔3511与所述吸盘接头3512之间，所述吸盘接头3512与所述负压接头3513连通。所述活塞杆353的外驱动力消除时，所述活塞杆353被所述推动机构355或外力向外拉出所述阀体 351的过程中，所述第一密封圈3541与所述第二密封圈3542均向远离所述大气通孔3511的方向移动，所述第一密封圈3541位于所述吸盘接头3512与所述负压接头3513之间、所述第二密封圈3542位于所述吸盘接头3512与所述大气通孔3511之间时，所述吸盘接头3512与所述负压接头3513、所述大气通孔3511均断开使得所述履带吸盘33保持暂时的负压。所述活塞杆353被驱动地继续退出所述阀体351，所述第二密封圈3542位于所述吸盘接头3512和负压接头3513之间，所述大气通孔3511与所述吸盘接头3512连通实现泄压。所述压力阀35通过第一密封圈3541和所述第二密封圈3542的设置，在泄压的过程中，保证大气通孔3512和负压接头3513之间阻断，以及有效地利用所述履带吸盘33存在的暂时负压，泄压过程缓慢，震动小。
优选地，所述第二密封圈3542位于所述吸盘接头3512和负压接头3513之间时，所述第一密封圈3541也位于所述吸盘接头3512和负压接头3513之间，所述负压接头3513与所述大气通孔3511之间的密封效果更佳，所述负压接头3513处能够保证有效的负压；从而在相应的履带吸盘33再次位于工作区域时，负压组件34无需补偿连接管345中的负压，在一定程度上降低了能耗。
本实施例中，所述压力阀35还包括通过螺钉等方式固定于所述活塞杆353位于所述阀体351外侧的部分上的滚动轴承356，所述滚动轴承356与所述活塞杆353通过螺钉固定。所述行走模块3还包括设于所述履带31内侧且沿其直线移动的前后方向延伸的导轨357，所述导轨357具有位于其底部的水平面3571、自所述水平面3571前端向上且向前延伸的前倾斜面3572、自所述水平面3571后端向上且向后延伸的后倾斜面3573。所述压力阀35固定于所述履带31上，且所述滚动轴承356朝向内侧凸伸，履带31转动过程中，当所述履带吸盘33移动至所述行走模块3的下侧时，所述滚动轴承356沿着所述前倾斜面3572、水平面3571、后倾斜面3573滚动并其压力。所述推动机构355包括所述导轨357、配合地设置于所述阀体351和/或所述盖体352与所述活塞杆353之间的复位机构359。
以向前移动为例，处于非工作区域的所述履带吸盘33移动至与所述前倾斜面3572对应的位置处时，前倾斜面3572逐渐推压所述滚动轴承356从而向阀体351内逐渐推入所述活塞杆353，当所述滚动轴承356与所述水平面3571接触时，所述活塞杆353被推入所述阀体351内的程度达到最大，此时所述阀体351处于非泄压状态，所述负压接头3513与所述吸盘接头3512连通，该履带吸盘 33处于工作区域。履带31继续转动，所述滚动轴承356移动至与所述后倾斜面3573对应时，所述活塞杆353接收到的压力逐渐减小，所述活塞杆353在复位机构359的作用下逐渐退出所述阀体351至所述压力阀35处于泄压状态，此时与其对应的履带吸盘33也由工作区域转换至非工作区域。
所述复位机构359为设置于所述阀体351与所述活塞杆353之间的弹簧359，具体地所述弹簧359设置于所述阀体351与盖体352相对的一侧与所述活塞杆353之间。所述活塞杆353收到所述导轨357的压力推入所述阀体351内时，压缩所述弹簧359；而所述导轨357对所述活塞杆353的压力消除时，所述弹簧359复位同时推动所述活塞杆353向所述阀体351外移动。
若未设置推动机构355而设置驱动组件，所述驱动组件与所述活塞杆相抵持，用以驱动所述活塞杆内外抽拉。所述驱动组件可为电机，通过电机控制所述活塞杆353的抽拉可以实现自动复位速度。
所述密封件358靠近所述开口设置。本实施例中，所述密封件358套设于所述活塞杆353上，所述密封件358被设置为在所述活塞杆353的抽拉过程中，即使压力阀35处于非泄压状态时，所述密封件358也可防止所述第三通孔3513与外界连通导致的漏气。当然，若第三通孔3513用以连通大气，则也可省略所述密封件358。
所述清洁机器人100的各个模块之间协同工作，也可以独立拆分工作从而应用于其他产品。尤其是所述行走模块3与所述吸附模块4的配合尤为重要。本实施例中，清洁机器人100直线行走时，所述主吸盘42不工作，行走模块3工作，通过履带31上多个履带吸盘33交替吸附于工作表面；清洁机器人100转向时，履带吸盘33不工作，而主吸盘42吸附于工作表面，履带31提供转向动力，带动整个清洁机器人100相对主吸盘42旋转来转向。
上述吸附模块4和行走模块3中的结构可选择性地使用，以达到所述清洁机器人100工作的要求即可。仅仅需要实现转向时，所述行走模块3包括相对设置的一对履带31、驱动所述履带31转动的驱动机构32；所述吸附模块4包括连接于所述清洁机器人底部的主吸盘42、给所述主吸盘42提供负压的真空源41；所述清洁机器人100与所述主吸盘42转动连接；清洁机器人100需向一侧转向时，所述控制模块6启动所述吸附模块4给所述主吸盘42提供负压；所述控制模块6启动所述行走模块3，使其靠近待转向的一侧的所述履带31向后移动，远离待转向的一侧的所述履带31向前移动；无需额外设置转向机构，仅 通过驱动机构32驱动一对履带31向前向后移动即可实现转向，控制方式简单。优选地，一对履带31的移动速度相同，转向较稳妥。需要说明的是，由于转向过程中，清洁机器人100相对主吸盘42旋转，故履带31向前移动或向后移动并非直线向前或向后。
进一步地，所述吸附模块4还包括驱动所述主吸盘42远离所述清洁机器人100以吸附于壁面或靠近所述清洁机器人100以脱离所述壁面的上下驱动装置7。清洁机器人100需转向时，所述控制模块6启动所述吸附模块4使得所述主吸盘42远离所述清洁机器人100底部而压抵壁面，后给主吸盘42提供负压；清洁机器人100直行时，所述控制模块6控制上下驱动装置7使得所述主吸盘42靠近所述清洁机器人100底部，与壁面分离，减少摩擦或防止主吸盘42磨损。
另外，所述吸附模块4还包括给所述主吸盘42泄压的泄压阀时，清洁机器人100需直行时，所述控制模块6控制所述吸附模块4给所述主吸盘42泄压，减少摩擦。
当所述行走模块包括设置在履带外表面的多个履带吸盘、给履带吸盘提供负压的负压组件以及给所述履带吸盘泄压的压力阀35时，其工作模式为：清洁机器人100需转向时，所述控制模块6驱动所述吸附模块4，所述上下驱动装置7驱动主吸盘42向下移动并将所述清洁机器人100吸附于壁面上，履带吸盘33停止工作，且一对履带31分别向前、先后移动，从而使得机身2朝向向后旋转的履带31一侧旋转。这种行走方式，无需额外设置转向机构，仅通过驱动机构32驱动一对履带31向前向后移动即可实现转向，控制方式简单。并且，所述机身2绕主吸盘42稳定转动，不发生侧滑；另外，转动时停止给所述履带吸盘33提供负压，减小了转动时履带吸盘33与壁面之间的摩擦，减小了损耗，增长了寿命。
例如图2所示的需要向左转向时，左侧的履带31向后转动，右履的履带31向前转动，使机身2绕吸盘模块转动，由于吸盘模块吸附在工作表面上，使机身2稳定转动，不会发生侧滑。需要右转时，一对履带31的移动方向与左转时相反，即可完成右转运动。
具体的，本发明的清洁机器人100的转向控制方法，包括如下步骤：
S10所述控制模块6启动所述上下驱动装置7使得所述主吸盘42远离所述清洁机器人100的底部而压抵待清洁表面；
S1：控制模块6启动所述吸附模块4给所述主吸盘42提供负压，所述主吸 盘42提供吸附力使得清洁机器人100吸附于待清洁表面；
S20：所述控制模块6启动所述泄压组件给所述履带吸盘33泄压；
S2：所述控制模块6启动所述行走模块3，靠近待转向的一侧的所述履带31向后移动，远离待转向的一侧的所述履带31向前移动；
S3：所述控制模块6控制所述负压组件34给所述履带吸盘33提供负压，并控制所述泄压阀给所述主吸盘42泄压。此时，履带吸盘33已吸附于工作表面，清洁机器人后续可切换至直行运动状态。
本发明还提供一种清洁机器人100的运行控制方法，包括如下步骤：
利用主吸盘42吸附于待清洁表面，履带吸盘33处于非吸附状态，行走模块3驱动所述清洁机器人100的机体相对于主吸盘42旋转，完成所述清洁机器人100的转向；完成转向的具体方法参考清洁机器人100的转向控制方法，于此不再赘述；
利用履带吸盘33吸附于清洁表面，主吸盘42处于非吸附状态，通过履带吸盘33的交替吸附完成所述清洁机器人100的直行。
综上所述，本发明的清洁机器人100可用于清洁各种壁面，即使是间隔排布的太阳能电池板，或具有边框的玻璃/幕墙，所述清洁机器人100也可以在相邻的两个太阳能电池板之间跨越，无需人工移动。
以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的精神和范围。

Claims (11)

  1. 一种清洁机器人，包括：一对履带、第一驱动轮、多个履带吸盘以及负压组件，其中，一对所述履带相对设置，所述第一驱动轮用于驱动所述履带转动，多个所述履带吸盘设置在履带外表面，所述负压组件与所述履带吸盘连通；其特征在于：所述负压组件包括负压源、输出接头以及第二驱动轮，所述输出接头与所述负压源相连通，所述第二驱动轮用于驱动所述输出接头旋转；所述第一驱动轮与所述第二驱动轮的线速度的比例ρ1等于履带长度与第二驱动轮的周长的比例ρ2。
  2. 根据权利要求1所述的清洁机器人，其特征在于：所述清洁机器人还包括与第一驱动轮共轴的同心轮，所述第一驱动轮与所述同心轮半径比为ρ1，所述同心轮与所述第二驱动轮通过同步带连接。
  3. 根据权利要求1所述的清洁机器人，其特征在于：所述负压组件还包括连通所述输出接头与所述负压源的旋转接头，所述旋转接头包括与所述负压源连接的套筒、位于所述套筒内的旋转主体以及气路；所述输出接头和所述第二驱动轮均与所述旋转主体相固定；所述气路包括开设于所述套筒上且沿其径向贯穿所述套筒的通气口、设于所述旋转主体的外周面且与所述通气口相配合的环形气槽、设于所述旋转主体内部并连通所述环形气槽与所述输出接头的管路。
  4. 根据权利要求3所述的清洁机器人，其特征在于：所述旋转接头还包括位于所述旋转主体与所述套筒之间用于密封所述环形气槽的密封套。
  5. 根据权利要求4所述的清洁机器人，其特征在于：所述管路包括沿所述旋转主体轴向延伸且与所述输出接头连通的气管、沿所述旋转主体径向连通所述环形气槽与所述气管的连通管。
  6. 根据权利要求3所述的清洁机器人，其特征在于：所述旋转接头还包括与所述旋转主体相固定的罩壳，所述罩壳背离所述旋转主体的一侧与第二驱动轮相固定；所述罩壳上设有供所述输出接头穿过的穿孔。
  7. 根据权利要求3所述的清洁机器人，其特征在于：所述负压组件可包括多个所述输出接头，所述旋转接头设有多个与所述输出接头一一对应的气路。
  8. 根据权利要求1所述的清洁机器人，其特征在于：所述负压源与所述输出接头相固定，所述第二驱动轮与所述输出接头和/或所述负压源相固定。
  9. 根据权利要求8所述的清洁机器人，其特征在于：所述负压组件还包括固定支架、可转动地套设在所述固定支架外侧的旋转支架，所述固定支架相对所述清洁机器人固定，所述旋转支架远离所述固定支架的一侧与所述第二驱动轮相固定；所述旋转支架与所述第二驱动轮均设有供所述输出接头穿过的穿孔。
  10. 根据权利要求8所述的清洁机器人，其特征在于：所述负压源通过无线供电方式获得电源；或所述负压组件还包括固定支架，所述负压源通过相配合的滑环与电刷获得电源，所述滑环、所述电刷分设于所述负压源、所述固定支架上。
  11. 根据权利要求9所述的清洁机器人，其特征在于：所述负压组件包括多个所述输出接头，此时所述旋转支架和所述第二驱动轮上均设有多个与所述输出接头一一对应的穿孔。
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CN111546309A (zh) * 2020-05-14 2020-08-18 四川玖越机器人科技有限公司 一种挂轨式巡检机器人
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