WO2024022233A1

WO2024022233A1 - Cleaning device, sewage recovery system, curtain wall cleaning robot, and cleaning robot

Info

Publication number: WO2024022233A1
Application number: PCT/CN2023/108513
Authority: WO
Inventors: 黄俊生; 张志忠
Original assignee: 凌度(广东)智能科技发展有限公司
Priority date: 2022-07-27
Filing date: 2023-07-21
Publication date: 2024-02-01

Abstract

A cleaning device (200) and a curtain wall cleaning robot. The cleaning device (200) comprises at least one squeegee assembly (100, 202); a thin cavity (102) and a water discharging port (104) communicated with the thin cavity (102) are formed in the squeegee assembly (100, 202); the water discharging port (104) is connected to a water pumping apparatus; an opening (106) is formed in the side of the thin cavity (102) facing a cleaning working face (300); and the opening (106) is used for suctioning sewage on the surface of a curtain wall. When the cleaning device (200) works on the surface of the curtain wall, the water pumping apparatus can form a negative pressure in the opening (106) and the thin cavity (102), and due to the small size of the thin cavity (102), the thin cavity (102) can allow a liquid at the opening (106) to flow to the water discharging port (104) at a high speed, so that the pumping speed of the sewage is increased, the leakage and dripping of the sewage can be avoided, and the cleaning degree of the curtain wall is further improved.

Description

A cleaning device, sewage recovery system, curtain wall cleaning robot and cleaning robot

Cross-references to related applications

This disclosure requests the priority of the Chinese patent application with application number 202221964164.2 and titled "Cleaning Device and Curtain Wall Cleaning Robot" submitted to the China Patent Office on July 27, 2022;

The priority of the Chinese patent application with application number 202221964165.7 and titled "Sewage Recycling System and Curtain Wall Cleaning Robot" submitted to the China Patent Office on July 27, 2022;

The priority of the Chinese patent application with application number 202221964163.8 and titled "Cleaning Robot" submitted to the China Patent Office on July 27, 2022;

As well as the priority of the Chinese patent application with application number 202210894183.0 and titled "Cleaning Device and Cleaning Robot" submitted to the China Patent Office on July 27, 2022, the entire content of which is incorporated into this disclosure by reference.

Technical field

The utility model relates to the technical field of curtain wall cleaning, in particular to a cleaning device, a sewage recovery system, a curtain wall cleaning robot and a cleaning robot.

Background technique

Curtain walls are commonly used in modern high-rise buildings, but it is inconvenient to clean curtain walls in high-rise buildings. The traditional curtain wall cleaning method is manual cleaning. Curtain wall cleaning personnel often rely on a safety rope and a work rope to hang outside the building and slowly start from the top of the building. Slide down and clean the curtain wall glass and exterior walls layer by layer. The manual cleaning process is not only greatly affected by the weather, such as wind, heavy rain, etc., relevant operations cannot be performed. There is also a greater risk of casualties for curtain wall cleaning personnel. Manual cleaning Cleaning curtain walls has low efficiency, high cost, and low operational safety. In related technology, the curtain wall can be cleaned by a curtain wall cleaning robot. The curtain wall cleaning robot will form sewage when cleaning dust. Failure to recycle the sewage in a timely manner will lead to further contamination of the curtain wall below, increasing the workload of subsequent cleaning, and also affecting high-rise buildings. Pedestrians and businesses underneath the building cause problems.

At present, high-rise building curtain wall cleaning uses cleaning robots to move on the surface of the curtain wall, driving the cleaning device on its body to clean dust on the surface of the curtain wall. In the related art, the stability of the cleaning device is low and the cleaning effect is poor. And it needs to turn around when cleaning, resulting in low cleaning efficiency.

Contents of the invention

The present disclosure proposes a cleaning device, including at least one cleaning component. The cleaning component is formed with a thin cavity. Under the action of negative pressure, the thin cavity is configured to make the liquid at the outlet flow to the drain at a high speed, which can increase the suction speed of sewage. It avoids the leakage and dripping of sewage, and improves the cleanliness of the curtain wall.

An embodiment of the present disclosure also provides a curtain wall cleaning robot.

A cleaning device provided according to an embodiment of the first aspect of the present disclosure includes:

At least one scraper assembly, the scraper assembly is formed with a thin cavity and a drain port connected to the thin cavity, and the thin cavity is formed with an opening on one side facing the cleaning working surface;

Wherein, the thin cavity is configured to cause the liquid at the opening to flow toward the drain outlet at a high speed.

Optionally, the number of the scraper assemblies is two, and both scraper assemblies are connected to the mounting frame;

Along the direction from away from to close to the cleaning working surface, the two scraper assemblies have a gradually expanding structure.

Optionally, the scraper assembly includes:

Inboard scraper;

An outer scraper is connected to the inner scraper, and the thin cavity is formed between the outer scraper and the inner scraper;

Wherein, at least one of the inner scraper and the outer scraper is connected to the mounting bracket.

Optionally, the inner scraper and the mounting bracket are an integral structure;

Alternatively, the inner scraper is hinged to the mounting bracket.

Optionally, the outer scraper is provided with a guide portion, a guide channel connected to the thin cavity is formed in the guide portion, and the drainage port is formed downstream of the guide channel;

The cross-sectional area of the flow guide channel gradually decreases along the upstream to downstream direction of the flow guide channel.

Optionally, a guide groove is formed in the thin cavity, and the guide groove is configured to guide the sewage at the opening to flow to the guide channel.

Optionally, at least one of adjacent two sides of the inner scraper and the outer scraper is provided with a flow guide protrusion, the number of the flow guide protrusions is at least two, and the two adjacent ones are The flow guide grooves are formed between the flow guide protrusions.

Optionally, the side of the scraper assembly facing the cleaning working surface is provided with flexible scraping strips and flexible blocking strips arranged in the same direction. Along the forward direction of the cleaning operation, the flexible scraping strips and the flexible blocking strips are arranged sequentially. ;

Wherein, a water-absorbing cavity is formed between the flexible scraper and the flexible retaining strip, the flexible scraper is formed with a water-absorbing hole connected to the water-absorbing cavity, and the water-absorbing cavity is connected to the opening.

Optionally, a plurality of juxtaposed protrusions are formed on a side of the flexible scraper strip close to the flexible retaining strip, and the water absorption hole is formed between two adjacent protrusions.

A curtain wall cleaning robot provided according to an embodiment of the second aspect of the present disclosure includes a cleaning device provided according to an embodiment of the first aspect of the present disclosure.

Compared with the existing technology, the beneficial effects of the embodiments of the present disclosure include, for example:

A cleaning device provided according to an embodiment of the first aspect of the present disclosure includes at least one scraper assembly. A thin cavity is formed in the scraper assembly and a drainage outlet connected to the thin cavity. The drainage outlet is configured to be connected to a water pumping device, and the thin cavity faces the cleaning An opening is formed on one side of the working surface, and the opening is configured to absorb sewage on the surface of the curtain wall. When the cleaning device works on the surface of the curtain wall, the water pumping equipment can form a negative pressure in the opening and the thin cavity. Due to the small size of the thin cavity, the thin cavity can make the liquid in the opening flow to the drain outlet at a high speed, increasing the suction speed of sewage. Not only can it avoid leakage and dripping of sewage, but it also improves the cleanliness of the curtain wall.

The present disclosure proposes a sewage recovery system. A flexible scraper is provided on the side of the scraper assembly close to the cleaning working surface. During the cleaning process, the flexible scraping strip and the cleaning working surface are at a preset angle. At the preset angle, it can facilitate the removal of stains adhered to the cleaning surface, and also improves the flexible scraper's ability to scrape sewage, resulting in better cleaning effects.

The sewage recycling system provided according to the first embodiment of the present disclosure includes:

At least one scraper assembly, the scraper assembly is provided with a flexible scraper strip on one side close to the cleaning working surface;

A switching component connected to the scraper component;

Wherein, the switching component is configured to make the flexible scraper contact the cleaning operation surface, and the flexible scraper and the cleaning operation surface are at a preset angle.

Optionally, the number of the scraper assemblies is two, and the two scraper assemblies have a gradually expanding structure in the direction close to the cleaning working surface;

The switching assembly is connected to the two scraper assemblies and is configured to switch the two scraper assemblies between a first position and a second position;

In the first position, the preset angle is between one of the two flexible scrapers and the cleaning working surface;

In the second position, the other one of the two flexible scrapers is at the preset angle with the cleaning working surface.

Optionally, the preset angle is between 45° and 90°.

Optionally, the preset angle is 60°.

Optionally, also includes:

A valve is formed with a water pumping channel, and the valve is connected to the drain ports of the two scraper assemblies and is connected to the switching assembly;

Wherein, the switching component allows the scraper component that is in contact with the cleaning working surface to communicate with the water pumping channel through position switching.

Optionally, the valve includes:

The valve housing has a water-conducting chamber formed inside. The valve housing is formed with a water-pumping outlet and two water-pumping inlets connected to the water-conducting chamber. The two water-pumping inlets are connected to the two scrapers one by one. The drain outlet of the component;

A valve core is located in the water-conducting chamber and connected to the switching component. The valve core includes a shielding part, and the switching component switches the shielding part between the two water pumping inlets through position switching.

Optionally, the scraper assembly also includes:

A scraper, drivingly connected to the switching component, and the flexible scraper is connected to the side of the scraper close to the cleaning working surface;

A flexible retaining strip is connected to the side of the scraper close to the cleaning operation surface, and is arranged in the same direction as the flexible scraping strip. Along the forward direction of the cleaning operation, the flexible scraping strip and the flexible retaining strip are arranged in sequence;

Wherein, a water-absorbing cavity is formed between the flexible scraper strip and the flexible retaining strip, and a water-absorbing hole connected to the water-absorbing cavity is formed in the flexible scraper strip.

Optionally, a plurality of juxtaposed protrusions are formed on a side of the flexible scraper strip close to the flexible blocking strip, and the water absorption hole is formed between two adjacent protrusions.

Optionally, when the flexible scraper is in contact with the cleaning working surface, there is a pressing length between an end of the flexible scraping strip close to the cleaning working surface and the cleaning working surface.

Optionally, the pressing length is between 1.0mm and 4.0mm.

The curtain wall cleaning robot provided according to the second embodiment of the present disclosure includes a sewage recycling system provided according to the first embodiment of the present disclosure.

The sewage recovery system provided according to the first embodiment of the present disclosure includes at least one scraper assembly and a switching assembly. The scraper assembly is provided with a flexible scraper on one side close to the cleaning working surface. The switching assembly is connected to the scraper assembly. Wherein, the switching component is configured to make the flexible scraper contact the cleaning operation surface, and the flexible scraper and the cleaning operation surface are at a preset angle. Based on the elasticity of the flexible scraper itself, when the angle between the flexible scraper and the cleaning work surface is small, the pressure of the flexible scraper on the cleaning work surface is small, making it difficult to remove stains on the surface of the curtain wall, and at the same time, the ability to scrape sewage Weaker. When the flexible scraper and the cleaning surface are at a preset angle, the flexible scraper can scrape stains on the surface of the curtain wall under its own elasticity, and can also efficiently scrape sewage on the surface of the curtain wall, with better cleaning results. At the same time, when the flexible scraper and the cleaning working surface are at a preset angle, the hardness of the flexible scraper can be appropriately reduced, which reduces the friction between the flexible scraper and the curtain wall surface and avoids scratches.

The present disclosure provides a cleaning robot that can solve the defects of poor cleaning effect and low efficiency of cleaning robots in related technologies, can realize two-way cleaning of the walking body without turning, effectively improve the cleaning effect and efficiency, and has a reasonable structural layout and space It has the characteristics of high utilization rate and good stability.

The present disclosure provides a cleaning robot, including:

walking body;

Cleaning devices are provided at both ends of the walking body along the walking direction;

The cleaning device includes: a mounting frame and two sets of scraper assemblies. The mounting frame is installed on the walking body through a flexible support structure. The two sets of scraper assemblies are swingably disposed on opposite sides of the mounting frame. side and suitable for switching between initial state and cleaning state,

In the initial state, the two sets of scraper assemblies are lifted to separate from the surface to be cleaned. In the cleaning state, the scraper components at the rear side along the walking direction are pressed down to fit the surface to be cleaned.

Optionally, the flexible support structure includes:

A support frame, the support frame is connected to the walking body;

A transverse movement component is respectively connected to the mounting frame and the support frame, and is configured to move the cleaning device transversely.

Optionally, a vertical telescopic component is provided between the support frame and the transverse movement component.

Optionally, the cleaning device also includes:

A driving assembly is provided on the mounting frame and is configured to drive the two sets of scraper assemblies to swing.

Optionally, the driving components include:

A driving motor is provided on the mounting frame and is located between the two sets of scraper assemblies;

A steering shaft is drivingly connected to the driving motor and arranged along the length direction of the mounting frame;

The pulling mechanism is drive-connected to the two sets of scraper assemblies and the steering shaft respectively, and is configured to pull the two sets of scraper assemblies to swing.

Optionally, the pulling mechanism includes:

A steering handle is provided on the steering shaft;

Two sets of connecting rod pairs. In the initial state, the two sets of connecting rod pairs are symmetrically distributed on both sides of the steering shaft. Each set of connecting rod pairs includes: a first connecting rod, a second connecting rod and an elastic link. components, the first ends of the two sets of first connecting rods are connected to the steering handle, the second connecting rod is swingably connected to the scraper assembly, and the end of the second connecting rod is connected to the steering handle. The second end of the first link is hinged, the elastic member is disposed on the side of the second link, and the two ends of the elastic member are pressed against the mounting bracket and the second link respectively. superior.

Optionally, the second end of the first connecting rod is provided with a sliding groove, and the end of the second connecting rod is provided with a connecting post that matches the sliding groove.

Optionally, along the vertical direction from away from to close to the surface to be cleaned, the two scraper assemblies have a gradually expanding structure.

Optionally, the cleaning device further includes a drum assembly, which includes:

A drum is rotatably arranged at the bottom of the installation frame along the length direction of the installation frame and is located between the two sets of scraper assemblies. Brushes are distributed on the outer peripheral surface of the drum;

The installation frame is provided with a connected water chamber and a water outlet. The water chamber of the installation frame is suitable for supplying water to the outer peripheral surface of the drum through the water outlet.

Optionally, when the roller assembly rotates, it conforms to the tangential direction of the surface to be cleaned and presses down on the scraper assembly.

The cleaning robot provided by the present disclosure includes a mounting frame and two sets of scraper assemblies through a cleaning device. The mounting frame is installed on the walking body through a flexible support structure. On the one hand, it can elastically avoid obstacles and protect the cleaning device, and on the other hand, it allows walking The machine body can walk more stably and ensure normal operation; the two sets of scraper assemblies are swingably arranged on opposite sides of the mounting frame and are suitable for switching between the initial state and the cleaning state. In the initial state, the two sets of scraper assemblies Lift up to separate from the surface to be cleaned to facilitate walking. In the cleaning state, the scraper assembly on the rear side along the walking direction is pressed down to fit the surface to be cleaned, which can realize two-way cleaning of the walking body without turning; by OK Cleaning devices are installed at both ends of the walking body along the walking direction, which can achieve two cleanings at the same time, with a more thorough cleaning effect. It can also achieve complete cleaning of the curtain wall side, avoiding cleaning dead corners caused by the existence of the walking body, and realizing the area to be cleaned. Clean thoroughly without any dead ends. Therefore, the present disclosure can effectively improve the cleaning effect and efficiency, and has the characteristics of reasonable structural layout, high space utilization, and good stability.

The present disclosure provides a cleaning device and a cleaning robot, which can improve the stability of the scraper assembly during cleaning, thereby improving the cleaning effect, and has the characteristics of simple structure, safety and reliability, and long service life.

The present disclosure provides a cleaning device, including:

Mount;

Two sets of scraper assemblies are swingably arranged on opposite sides of the mounting frame;

The driving assembly includes: a driving motor, a steering shaft and a pulling mechanism, the driving motor is arranged on the mounting frame, the steering shaft is drivingly connected to the driving motor,

The pulling mechanism includes: a steering handle and two sets of connecting rod pairs. The steering handle is arranged on the steering shaft. The first ends of the two groups of connecting rod pairs are connected to the steering handle. The second end of the connecting rod pair is connected to the two sets of scraper assemblies respectively;

The driving assembly is configured to drive two sets of scraper assemblies to swing to switch between an initial state and a cleaning state. In the initial state, the two sets of scraper assemblies are lifted to separate from the surface to be cleaned. In the above-mentioned cleaning state, one set of the scraper assemblies is pressed down to fit the surface to be cleaned.

Optionally, the connecting rod pair includes: a first connecting rod, a second connecting rod and an elastic member. The first ends of the two sets of first connecting rods are connected to the steering handle, and the second connecting rod Swingably connected to the scraper assembly, the end of the second link is hinged to the second end of the first link, the elastic member is provided on the side of the second link, and Both ends of the elastic member are pressed against the mounting bracket and the second connecting rod respectively.

Optionally, the first connecting rod is a bent rod, so that the first connecting rod and the second connecting rod have a dead center position during their movement, and the dead center position is: the second connecting rod Three points are collinear with the connection point of the first connecting rod, the center point of the steering shaft, and the connection point of the steering handle and the first connecting rod.

Optionally, the driving component also includes:

Two micro switches are provided on the mounting bracket and located on both sides of the steering shaft;

A trigger member, arranged on the steering shaft and adapted to contact or separate from the two micro switches;

A controller is electrically connected to the drive motor and the two micro switches respectively, and is configured to perform a primary limit on the swing of the two sets of scraper assemblies.

Optionally, the driving component also includes:

Two limit blocks are provided on both sides of the steering handle and are suitable for contacting or separating from the steering handle, and are configured to perform secondary limits on the swing of the two sets of scraper assemblies.

Optionally, also includes:

The roller assembly is rotatably provided at the bottom of the mounting frame and is located between the two sets of scraper assemblies, and is configured to wash the surface to be cleaned.

Optionally, the scraper assembly has a water suction cavity, the water suction cavity is provided with a water suction inlet and a water suction outlet, the water suction inlet faces the drum assembly, and the water suction outlet is configured to be connected with a suction device.

Optionally, it also includes: water circuit switching valve, including:

The valve housing is arranged on the mounting frame, the steering shaft passes through the valve housing, the water suction outlets of the two sets of scraper assemblies are respectively connected to the valve housing through the first water channel, and the valve housing is configured as Connected to the suction equipment via the second waterway;

A valve core is located in the valve housing and connected to the steering shaft. In the cleaning state, the valve core is adapted to disconnect the first water path corresponding to the lifted scraper assembly.

The present disclosure also provides a cleaning robot, including: the above-mentioned cleaning device.

The cleaning device and cleaning robot provided by the present disclosure include a driving motor, a steering shaft and a pulling mechanism through a driving assembly. The steering shaft is drivingly connected to the driving motor. The pulling mechanism includes a steering handle and two sets of connecting rod pairs. The steering handle is provided on the steering wheel. On the shaft, the first ends of the two sets of connecting rod pairs are connected to the steering handle, and the second ends of the two sets of connecting rod pairs are respectively connected to the two sets of scraper assemblies, which can drive the two sets of scraper assemblies to swing in the initial state and clean. Switch between states. In the initial state, the two sets of scraper assemblies are lifted up to separate from the surface to be cleaned to facilitate walking. In the cleaning state, one set of scraper assemblies is pressed down to fit the surface to be cleaned, enabling walking. The machine body can turn around and clean in two directions without turning to improve the cleaning effect; moreover, the present disclosure can realize synchronous linkage control of two sets of scraper assemblies through one drive motor, which can improve work efficiency. efficiency, simplifying the structure, reducing volume, and reducing costs; in addition, the present disclosure can improve the stability of the scraper assembly during cleaning through the pulling mechanism transmission and mechanical design, thereby improving the cleaning effect, and has the advantages of simple structure, safety, reliability, and long service life. Long and other characteristics.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the drawings needed to be used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings in the following description are only for the purpose of describing the embodiments or related technologies. For some disclosed embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is a perspective view of a cleaning device provided by a first embodiment of the present disclosure;

Figure 2 is a front view of the cleaning device provided by the first embodiment of the present disclosure;

Figure 3 is a cross-sectional view taken along line A-A of Figure 2;

Figure 4 is a perspective view of the outer scraper provided by the first embodiment of the present disclosure;

Figure 5 is a perspective view of a cleaning device provided by a second embodiment of the present disclosure;

Figure 6 is a front view of the cleaning device provided by the second embodiment of the present disclosure;

Figure 7 is a cross-sectional view taken along line B-B in Figure 6;

Figure 8 is a perspective view of the scraper assembly provided by the second embodiment of the present disclosure;

Figure 9 is a second perspective view of the scraper assembly provided by the second embodiment of the present disclosure;

Figure 10 is a third perspective view of the scraper assembly provided by the second embodiment of the present disclosure.

Figure 11 is a perspective view of the sewage recovery system provided by an embodiment of the present disclosure;

Figure 12 is a front view of the sewage recovery system provided by an embodiment of the present disclosure;

Figure 13 is a side view of the sewage recovery system provided by an embodiment of the present disclosure;

Figure 14 is a cross-sectional view at A-A in Figure 12;

Fig. 15 is a partial enlarged view of the cleaning operation at B in Fig. 14.

Figure 16 is a schematic structural diagram of the cleaning robot provided by the present disclosure;

Figure 17 is a schematic structural diagram of the cleaning device provided by the present disclosure;

Figure 18 is a partial enlarged view of A in Figure 17;

Figure 19 is a partial enlarged view of B in Figure 17;

Figure 20 is a schematic diagram of the scraper assembly provided by the present disclosure in an initial state;

Figure 21 is a schematic diagram of the scraper assembly provided by the present disclosure in a cleaning state;

Figure 22 is a schematic diagram of the connecting rod pair provided by the present disclosure in a dead center position;

Figure 23 is a schematic assembly diagram of the drum assembly provided by the present disclosure;

Figure 24 is an exploded view of a drum assembly provided by the present disclosure;

Figure 25 is a schematic structural diagram of the mounting bracket provided by the present disclosure;

Figure 26 is a side view of the mounting bracket provided by the present disclosure;

Figure 27 is a schematic structural diagram of the water guide provided by the present disclosure;

Figure 28 is an assembly diagram of the flexible support structure provided by the present disclosure;

Figure 29 is a schematic diagram of a flexible support structure provided by the present disclosure.

Figure 30 is a schematic structural diagram of the cleaning device provided by the present disclosure;

Figure 31 is a partial enlarged view of position A in Figure 30;

Figure 32 is a partial enlarged view of B in Figure 30;

Figure 33 is a schematic diagram of the scraper assembly provided by the present disclosure in an initial state;

Figure 34 is a schematic diagram of the scraper assembly provided by the present disclosure in a cleaning state;

Figure 35 is a schematic diagram of the connecting rod pair provided by the present disclosure in a dead center position;

Figure 36 is one of the structural schematic diagrams of the scraper assembly provided by the present disclosure;

Figure 37 is the second structural schematic diagram of the scraper assembly provided by the present disclosure;

Figure 38 is a schematic structural diagram of the water leakage film provided by the present disclosure;

Figure 39 is a partial enlarged view of C in Figure 38;

Figure 40 is a schematic structural diagram of the waterway switching valve provided by the present disclosure;

Figure 41 is a cross-sectional view of the waterway switching valve provided by the present disclosure.

The text labels in the figure are expressed as:
100. Scraper assembly; 102. Thin cavity; 104. Drainage outlet; 106. Opening; 108. Inner scraper; 110. Outer scraper; 1102.
Guide part; 1104, guide channel; 1106, connector; 112, guide groove; 114, guide protrusion; 120, mounting bracket; 130, flexible retaining bar; 132, flexible scraper; 134, water absorption cavity; 136. Water absorption hole; 138. Protrusion.
100. Scraper assembly; 101. Flexible scraper; 102. Drainage outlet; 103. Scraper; 104. Flexible retaining strip; 105. Water absorption cavity; 106.
Water absorption hole; 107. Protrusion; 110. Valve; 112. Valve housing; 114. Water pumping outlet; 116. Water pumping inlet; 118. Valve core; 120. Shielding part; 200. Switching component; 300. Cleaning working surface.
100: Traveling body; 200: Cleaning device; 201: Mounting frame; 202: Scraper assembly; 2021: Scraper; 2022: Scraper film;
203: drive motor; 204: steering shaft; 205: steering handle; 206: first connecting rod; 207: second connecting rod; 208: elastic member; 209: chute; 210: connecting column; 211: steering shaft support ;212: micro switch; 213: trigger; 214: limit block; 215: roller; 216: outer rotor motor; 2161: outer rotor; 2162: inner stator; 2163: connecting piece; 2164: boss; 2165: Card slot; 217: brush; 218: water outlet; 219: end cover carbon plate; 220: sink; 221: water inlet; 222: water guide; 300: flexible support structure; 301: support frame; 302: sliding part ; 303: first elastic component; 304: sleeve; 305: connecting rod; 306: second elastic component.
100: Installation frame; 200: Scraper assembly; 201: Water suction inlet; 202: Water suction outlet; 203: Scraper; 204: First water suction chamber;
205: Water-retaining film; 206: Water-leakage film; 207: Second water-absorbing chamber; 208: Partition table; 209: Cover plate; 210: Connection groove; 211: Connection part; 300: Driving component; 301: Driving motor; 302: Steering shaft; 303: steering handle; 304: first connecting rod; 305: second connecting rod; 306: elastic member; 307: chute; 308: connecting column; 309: steering shaft support; 310: micro switch; 311: trigger piece; 312: limit block; 400: drum assembly; 500: waterway switching valve; 501: valve housing; 502: valve core; 503: sewage inlet; 504: sewage outlet.

Detailed ways

In order to make the purpose, technical solutions and advantages of the disclosure more clear, the technical solutions in the disclosure will be clearly described below in conjunction with the accompanying drawings in the disclosure. Obviously, the described embodiments disclose some embodiments, not all of them. Example. Based on the disclosed embodiments, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of disclosed protection.

In the description of the embodiments of the present disclosure, it should be noted that the terms "center", "longitudinal", "horizontal", "upper", "lower", "front", "back", "left", "right" The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this document. The disclosed embodiments and simplified description are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limitations on the disclosed embodiments. 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 embodiments of the present disclosure, it should be noted that, unless otherwise clearly stated and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. Or integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood on a case-by-case basis.

In the embodiments of the present disclosure, unless otherwise expressly stated and limited, the first feature "on" or "below" the second feature may be that the first and second features are in direct contact, or the first and second features are in intermediate contact. Indirect media contact. Furthermore, the terms "above", "above" and "above" the first feature is above the second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "below" and "beneath" the first feature to the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature has a smaller horizontal height than the second feature.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "an example," "specific examples," or "some examples" or the like means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of embodiments of the present disclosure. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.

The cleaning device provided according to the embodiment of the first aspect of the present disclosure, please refer to Figures 1 to 10. The cleaning device includes at least one scraper assembly 100. The cleaning device is installed on the body of the curtain wall cleaning robot and is configured to scrape the surface of the curtain wall. Sewage and stains.

The vehicle body of the curtain wall cleaning robot is equipped with a water pumping device. The water pumping device is connected to the cleaning device and is configured to generate negative pressure. The scraper assembly 100 absorbs sewage on the surface of the curtain wall under the action of negative pressure to realize recycling and utilization of sewage.

The scraper assembly 100 is formed with a thin cavity 102 and a drain outlet 104 connected to the thin cavity 102. The thin cavity 102 is formed with an opening 106 on a side facing the cleaning working surface.

According to the cleaning device provided by the embodiment of the present disclosure, when the cleaning device works on the surface of the curtain wall, the water pumping equipment can form a negative pressure in the opening 106 and the thin cavity 102. Since the size of the thin cavity 102 is small, the thin cavity 102 can make the opening 106 The liquid flows to the drain outlet 104 at a high speed, which increases the suction speed of sewage, which not only avoids the leakage and dripping of sewage, but also improves the cleanliness of the curtain wall.

It should be noted that when the curtain wall cleaning robot carries out cleaning work, the walking path of the curtain wall cleaning robot is the cleaning operation path, and the part of the curtain wall corresponding to the curtain wall cleaning robot is the cleaning operation surface.

In some embodiments, the thickness of thin cavity 102 is between 1.5 mm and 4.5 mm.

It should be noted that the thickness of the thin cavity 102 refers to the distance between the adjacent side walls of the inner scraper 108 and the outer scraper 110 mentioned below, and the length of the thin cavity 102 refers to the direction from the opening 106 to the drain outlet 104 The extended distance, the width of the thin cavity 102 refers to the distance between the left and right sides of the thin cavity 102 . The thickness of the thin cavity 102 is not limited to 1.5 mm to 4.5 mm, but also needs to be determined according to the size of the scraper assembly 100 itself, and can be reduced or increased in the same proportion.

According to the cleaning device provided by the embodiment of the present disclosure, the number of scraper assemblies 100 is two, and both scraper assemblies 100 are connected to the mounting bracket 120 .

The cleaning device also includes a drum assembly, etc. Two scraper assemblies 100 are located at the front and rear sides of the drum assembly. Along the direction from away from to close to the cleaning working surface, the two scraper assemblies 100 have a gradually expanding structure, that is, forming a trumpet shape. structure.

It can be understood that the two scraper assemblies 100 are arranged to be tilted in opposite directions, and when the curtain wall cleaning robot moves back and forth, the two scraper assemblies 100 work separately. Specifically, along the forward direction of the cleaning operation, the drum assembly is cleaned in front, and the scraper assembly 100 behind the drum assembly is in contact with the cleaning operation surface. When changing the cleaning direction, the curtain wall cleaning robot does not need to turn around, but only needs to adjust the direction of movement so that the rear scraper assembly 100 contacts the cleaning working surface to achieve reversing cleaning operations.

In some embodiments, the scraper assembly 100 includes an inner scraper 108 and an outer scraper 110, the outer scraper 110 is connected to the inner scraper 108, a thin cavity 102 is formed between the inner scraper 108 and the outer scraper 110, and At least one of the inner scraper 108 and the outer scraper 110 is connected to the mounting bracket 120 .

It can be understood that the contours of the adjacent side walls of the inner scraper 108 and the outer scraper 110 are the same or similar, and they can both be planar structures or arcuate structures. The distance is relatively close, thus forming a thin cavity 102 .

It should be noted that in this solution, the definition of the inner scraper 108 and the outer scraper 110 belongs to one of the embodiments. It may also be that the gap between the outer scraper 110 and the inner scraper 108 is large and cannot form a thin film. The cavity 102 is provided with a thin-walled guide plate integrated with the opening 106 between the outer scraper 110 and the inner scraper 108, which is also an inventive concept of this solution.

When the water pumping equipment is connected to the drain outlet 104, a negative pressure can be formed in the opening 106 and the thin cavity 102. Due to the small size of the thin cavity 102, the thin cavity 102 can cause the liquid at the opening 106 to flow to the drain outlet 104 at a high speed, thereby improving the efficiency of sewage treatment. The high suction speed not only avoids the leakage and dripping of sewage, but also improves the cleaning efficiency and effect of the curtain wall.

It should be noted that the positions of the left and right ends of the inner scraper 108 and the outer scraper 110 can be blocked by seals, end plates, or the structure of the inner scraper 108 or the outer scraper 110 itself.

In the first case, the inner scraper 108 is connected to the mounting bracket 120 and the outer scraper 110 is connected to the inner scraper 108 .

In the second case, the outer scraper 110 is connected to the mounting bracket 120 and the inner scraper 108 is connected to the outer scraper 110 .

In the third case, both the inner scraper 108 and the outer scraper 110 are connected to the mounting bracket 120 .

In some embodiments, please refer to FIGS. 1 to 4 , the inner scraper 108 and the mounting bracket 120 are an integral structure.

It can be understood that when switching the scraper assemblies 100, the mounting bracket 120 moves simultaneously with the two scraper assemblies 100. The switching component is connected to the mounting frame 120 and can cause the mounting frame 120 to rotate. At this time, the scraper assembly 100 located on the first side of the mounting frame 120 is in contact with the cleaning working surface, and the scraper assembly 100 located on the second side of the mounting frame 120 100 is lifted up; when adjusting the walking direction of the curtain wall cleaning robot, the mounting frame 120 rotates in the opposite direction. At this time, the scraper assembly 100 located on the second side of the mounting frame 120 is in contact with the cleaning working surface and is located on the first side of the mounting frame 120 The scraper assembly 100 is lifted.

In other embodiments, please refer to FIGS. 5 to 10 , the inner scraper 108 is hinged to the mounting bracket 120 , and the two scraper assemblies 100 can rotate relative to the mounting bracket 120 to adjust the working status of the two scraper assemblies 100 . , the position of the mounting bracket 120 does not change, and the switching assembly is connected to the two scraper assemblies 100 respectively, so that the two scraper assemblies 100 can be dropped or lifted respectively.

In some embodiments, the outer scraper 110 is provided with a guide portion 1102. A guide channel 1104 connected to the thin cavity 102 is formed in the guide portion 1102. A drain outlet 104 is formed downstream of the guide channel 1104. The drain outlet 104 A connector 1106 is provided at.

In order to facilitate the collection of sewage in the diversion channel 1104, the size of the upstream inlet of the diversion channel 1104 is larger and the size of the downstream outlet is smaller. Along the upstream to downstream direction of the diversion channel 1104, the cross-sectional area of the diversion channel 1104 gradually decreases. The diversion channel 1104 can smoothly guide the sewage in the entire thin cavity 102 to the drainage outlet 104, thereby improving the collection and discharge efficiency of sewage.

It should be noted that the upstream and downstream of the diversion channel 1104 refer to the upstream and downstream of the sewage flow direction.

In some cases, the flow guide 1102 and the outer scraper 110 are an integral structure.

In other cases, the air guide 1102 is an independent structure, and the air guide 1102 is installed on the outer scraper 110 through a buckle structure or a bolt structure.

In some embodiments, please refer to FIG. 4 , a guide groove 112 is formed in the thin cavity 102 , and the guide groove 112 is configured to guide the sewage at the opening 106 to flow into the guide channel 1104 .

It can be understood that the drain port 104 is suitable for being connected to a water pumping device, and the water pumping device can form a negative pressure in the opening 106, the thin cavity 102, and the diversion channel 1104 to facilitate the rapid discharge of sewage. The diversion groove 112 is connected to the opening 106 and the diversion channel 1104, allowing the sewage at the opening 106 to flow directly into the diversion channel 1104, improving the extraction rate of sewage, reducing the accumulation of sewage in the thin cavity 102, and reducing the cost of using this method. This structure of the cleaning component reduces the water consumption while ensuring the cleaning efficiency of the entire machine.

In some embodiments, at least one of adjacent two sides of the inner scraper 108 and the outer scraper 110 is provided with a flow guide protrusion 114 .

In some cases, at least two flow guide protrusions 114 are provided on the side of the inner scraper 108 facing the outer scraper 110 , and a flow guide groove 112 is formed between two adjacent flow guide protrusions 114 .

In other cases, at least two flow guide protrusions 114 are provided on the side of the outer scraper 110 facing the inner scraper 108 , and a flow guide groove 112 is formed between two adjacent flow guide protrusions 114 .

It should be noted that, please refer to FIGS. 8 to 10 , when the distance between the inner scraper 108 and the outer scraper 110 is smaller, the thickness of the thin cavity 102 is smaller. Under the action of the water pumping equipment, the thin cavity 102 can cause the sewage at the opening 106 to flow directly into the guide channel 1104. At this time, the guide groove 112 does not need to be provided.

In some embodiments, the scraper assembly 100 is provided with flexible scrapers 132 and flexible retaining strips 130 arranged in the same direction on the side facing the cleaning working surface. When the scraper assembly 100 includes an inner scraper 108 and an outer scraper 110, The flexible strip 130 is connected to the outer scraper 110 , and the flexible scraper 132 is connected to the inner scraper 108 . Along the forward direction of the cleaning operation, the flexible scraper 132 and the flexible strip 130 are arranged in sequence.

It can be understood that the flexible scraping strip 132 is in the front and is used to scrape stains and sewage on the surface of the curtain wall; the flexible retaining strip 130 is in the rear and is configured to support the flexible scraping strip 132 and to block sewage.

A water-absorbing cavity 134 is formed between the flexible scraper 132 and the flexible retaining strip 130 . The flexible scraper 132 is formed with a water-absorbing hole 136 connected to the water-absorbing cavity 134 .

In some embodiments, along the direction toward the cleaning work surface, the distance between the flexible scraper 132 and the flexible retaining bar 130 gradually becomes smaller, and the two form a tapered triangular area, and the water absorption cavity 134 is formed in the triangular area.

It can be understood that when the scraper assembly 100 moves forward along the cleaning operation path, the flexible scraper 132 can suck the sewage on the curtain wall surface into the water suction chamber 134 along the water suction holes 136 .

In some embodiments, a plurality of juxtaposed protrusions 138 are formed on the side of the flexible scraper 132 close to the flexible barrier 130 , and a water absorption hole 136 is formed between two adjacent protrusions 138 .

It can be understood that a smaller water-absorbing cavity is formed between two adjacent protrusions 138, which can prevent the flexible scraper 132 and the flexible retaining strip 130 from being squeezed together during the advancement process, and can maintain the basic shape of the water-absorbing cavity 134. It is ensured that the sewage on the surface of the curtain wall can enter the water absorption cavity 134 in time, thereby improving the sewage recovery capacity.

In some embodiments, when the flexible scraper 132 is in contact with the cleaning working surface, there is a pressing length between an end of the flexible scraping strip 132 close to the cleaning working surface and the cleaning working surface.

It can be understood that within the range of the pressing length, the flexible scraping strip 132 is in direct contact with the surface of the curtain wall. Appropriately increasing the pressing length can improve the ability of the flexible scraping strip 132 to scrape stains and sewage.

The lamination length determines the extension and deformation ability of the flexible scraper 132. There may also be stains in the gap between two adjacent pieces of glass. When the flexible scraper 132 passes through the gap between the two pieces of glass, the end of the flexible scraper 132 close to the cleaning working surface is in its own elasticity. When it enters the gap under the action, the stains in the gap can be scraped off, and the cleaning ability is strong.

In some embodiments, the lamination length is between 1.0 mm and 4.0 mm.

To sum up, according to the cleaning device and curtain wall cleaning robot provided by the embodiments of the present disclosure, the cleaning device includes at least one scraper assembly 100. A thin cavity 102 and a drain port 104 connected to the thin cavity 102 are formed in the scraper assembly 100. The drain port 104 is configured to be connected to the water pumping equipment. An opening 106 is formed on the side of the thin cavity 102 facing the cleaning working surface. The opening 106 is used to absorb sewage on the surface of the curtain wall. When the cleaning device is working on the surface of the curtain wall, the water pumping equipment can form a negative pressure in the opening 106 and the thin cavity 102. Due to the small size of the thin cavity 102, the thin cavity 102 can make the liquid at the opening 106 flow to the drain outlet 104 at a high speed, which improves the efficiency of cleaning. The suction speed of sewage can not only avoid the leakage and dripping of sewage, but also improve the cleanliness of the curtain wall.

The sewage recycling system provided according to an embodiment of the present disclosure, please refer to FIGS. 11 to 15 , includes a scraper assembly 100 and a switching assembly 200 .

The scraper assembly 100 is installed on the body of the curtain wall cleaning robot, or on other suspension structures. When the scraper assembly 100 moves along the surface of the curtain wall, it can scrape off stains on the surface of the curtain wall and clean the curtain wall. The sewage recycling system includes at least one scraper assembly 100. When multiple scraper assemblies 100 are arranged in parallel, multiple cleanings or coverage of different directions and areas can be achieved.

A flexible scraper 101 is provided on the side of the scraper assembly 100 close to the cleaning working surface. Through the contact between the flexible scraping strip 101 and the cleaning working surface 300, the stains and sewage on the curtain wall can be scraped clean.

It should be noted that when the curtain wall cleaning robot carries out cleaning work, the walking path of the curtain wall cleaning robot is the cleaning operation path, and the part of the curtain wall corresponding to the curtain wall cleaning robot is the cleaning operation surface. In order to maintain the efficient work of the curtain wall cleaning robot, the cleaning operation path is generally preset to move vertically or horizontally along the cleaning operation surface. When the curtain wall has an inclined structure, the cleaning operation path is adjusted accordingly.

The switching component 200 is connected to the scraper component 100. During the position switching process, the switching component 200 can make the flexible scraper 101 contact the cleaning working surface 300, and the flexible scraping strip 101 and the cleaning working surface are at a preset angle (i.e. Angle a), see Figure 15.

It should be noted that the end of the flexible scraper 101 close to the cleaning working surface 300 may be deformed and bent under pressure during operation, and may continue to deform during movement. Therefore, the preset angle is the angle between the extension direction of the flexible scraper 101 in its natural state and the cleaning working surface 300 , please refer to FIG. 15 .

In some embodiments, the preset angle is between 45° and 90°. Within this angle range, the flexible scraper 101 is in closer contact with the surface of the curtain wall and can effectively scrape stains and sewage on the surface of the curtain wall.

In some embodiments, the preset angle is 60°. At this angle, the flexible scraper 101 has the best cleaning effect.

According to the sewage recovery system provided by the embodiment of the present disclosure, based on the elasticity of the flexible scraper 101 itself, when the angle between the flexible scraper 101 and the cleaning work surface 300 is small, the pressure of the flexible scraper 101 on the cleaning work surface 300 is relatively small. Small, it is difficult to remove stains on the surface of the curtain wall, and its ability to scrape sewage is weak. When the flexible scraper 101 and the cleaning working surface 300 are at a preset angle, the flexible scraper 101 can scrape stains on the surface of the curtain wall under its own elasticity, and can also efficiently scrape sewage on the surface of the curtain wall, resulting in a better cleaning effect. At the same time, when the flexible scraper 101 and the cleaning working surface 300 are at a preset angle, the hardness of the flexible scraper 101 can be appropriately reduced, which reduces the friction between the flexible scraper 101 and the curtain wall surface, and can avoid scratches.

In some embodiments, the number of the scraper assemblies 100 is two. Along the direction close to the cleaning working surface 300, the two scraper assemblies 100 have a gradually expanding structure, that is, forming a trumpet-shaped structure.

In some cases, the switching assembly 200 includes a drive motor and a drive shaft. By controlling the rotation angle of the drive motor, the two scraper assemblies 100 can be rotated accordingly. When one scraper assembly 100 is in contact with the cleaning working surface 300, the other scraper assembly 100 can rotate accordingly. A scraper assembly 100 is lifted relative to the cleaning work surface.

In other cases, switching assembly 200 includes a swing cylinder or the like.

It should be noted that the switching assembly 200 can be directly connected to the two scraper assemblies 100, or can be connected to the two scraper assemblies 100 through other transmission structures, including a dowel rod structure or a pull rope structure, etc., which are not limited here. .

The switching assembly 200 is connected to the two scraper assemblies 100 and can switch the two scraper assemblies 100 between the first position and the second position.

In the first position, one of the two flexible scrapers 101 is at a preset angle with the cleaning working surface 300;

In the second position, the other of the two flexible scrapers 101 is at a preset angle with the cleaning working surface 300 .

It can be understood that the two scraper assemblies 100 are arranged to be tilted in opposite directions and work separately when the curtain wall cleaning robot moves back and forth. Specifically, along the forward direction of the cleaning operation, the drum assembly is cleaned in front, and the scraper assembly 100 behind the drum assembly is in contact with the cleaning operation surface 300 . When changing the cleaning direction, the curtain wall cleaning robot does not need to turn around, but only needs to adjust the direction of movement. At this time, the switching component 200 moves to make the rear scraper component 100 contact the cleaning working surface 300 to realize the reversing cleaning operation.

According to the sewage recovery system provided by the embodiment of the present disclosure, a sewage recovery channel is formed in the scraper assembly 100, and the flexible scraper 101 can collect the sewage on the surface of the curtain wall, and then recover it into the sewage treatment box of the curtain wall cleaning robot body. The plate assembly 100 is formed with a drain port 102 configured to discharge sewage in the sewage recovery channel from the scraper assembly 100 .

In some embodiments, the sewage recovery system also includes a valve 110 , a water pumping channel is formed in the valve 110 , the valve 110 is simultaneously connected to the drain outlets 102 of the two scraper assemblies 100 , and the valve 110 is drivingly connected to the switching assembly 200 .

It can be understood that sewage recovery channels are formed in both scraper assemblies 100. When the air extraction assembly is connected to the drain outlet 102, air may be extracted along the inactive scraper assembly 100, thereby causing contact with the cleaning operation. The dirt suction capacity of the scraper assembly 100 on the surface 300 is reduced.

Providing a valve 110 between the two drain outlets 102 allows the air extraction assembly to extract sewage only through the scraper assembly 100 that is in contact with the cleaning work surface, thereby realizing recovery of the sewage.

It should be noted that the valve 110 is connected to the switching assembly 200. During the movement, the switching assembly 200 can not only switch the two scraper assemblies 100 between the first position and the second position, but also enable the two scraper assemblies 100 to contact the cleaning working surface. The scraper assembly 100 of 300 is connected to the water pumping channel in the valve 110.

The switching assembly 200 can change the status of the two scraper assemblies 100 and the valve 110 at the same time through one position switching, thus simplifying the structure of the sewage recovery system.

In some embodiments, the valve 110 includes a valve housing 112 and a valve core 118. A water conduit chamber is formed inside the valve housing 112, and a water pumping outlet 114 and two water pumping inlets 116 are formed on the valve housing 112 and are connected to the water conduit cavity. The two water pumping inlets 116 are connected to the drainage outlets 102 of the two scraper assemblies 100 in one-to-one correspondence.

The valve core 118 is disposed in the water conduit chamber and connected to the switching assembly 200. The valve core 118 includes a blocking portion 120. When the switching component 200 switches positions, the valve core 118 moves synchronously, so that the blocking portion 120 can be positioned between the two pumping inlets 116. switch between.

When the shielding part 120 blocks one of the water pumping inlets 116 , a water pumping channel is formed between the other water pumping inlet 116 and the water pumping outlet 114 . When the switching assembly 200 switches positions, the scraper assembly 100 that is in contact with the cleaning working surface 300 can be connected to the water pumping channel.

According to the sewage recovery system provided by the embodiment of the present disclosure, the scraper assembly 100 can scrape the sewage on the cleaning work surface 300 to realize the recovery of sewage.

In some embodiments, the scraper assembly 100 also includes a scraper 103 and a flexible barrier 104. A sewage recovery channel is formed in the scraper 103. The scraper 103 is connected to the switching assembly 200. The flexible scraper 101 and the flexible barrier 104 are both It is connected to the side of the scraper 103 facing the cleaning working surface 300, and the flexible scraper 101 and the flexible retaining strip 104 are arranged side by side. Along the forward direction of the cleaning operation, the flexible scraper 101 and the flexible stopper 104 are arranged in sequence. The flexible scraping strip 101 is in the front and is used to scrape stains on the surface of the curtain wall; the flexible retaining strip 104 is in the rear and is configured to support the flexible scraping strip 101 and to block sewage.

A water-absorbing cavity 105 is formed between the flexible scraper 101 and the flexible retaining strip 104 . The flexible scraper 101 is formed with a water-absorbing hole 106 connected to the water-absorbing cavity 105 .

In some embodiments, along the direction toward the cleaning working surface 300, the distance between the flexible scraper 101 and the flexible retaining bar 104 gradually becomes smaller, and the two form a tapered triangular area, and the water absorption cavity 105 is formed in the triangular area.

It can be understood that when the scraper assembly 100 moves forward along the cleaning operation path, the flexible scraper 101 can suck the sewage on the curtain wall surface into the water suction cavity 105 along the water suction hole 106 (under the action of the water pumping assembly). The recovery channel is connected to the water absorption cavity 105, and the sewage on the surface of the curtain wall can be discharged along the drainage outlet 102 to avoid dripping of sewage.

At the same time, when the flexible scraper 101 is at a preset angle, the scraper assembly 100 has a stronger ability to scrape stains and sewage, and the cleaning effect is better.

In some embodiments, a plurality of juxtaposed protrusions 107 are formed on the side of the flexible scraper 101 close to the flexible barrier 104 , and a water absorption hole 106 is formed between two adjacent protrusions 107 .

It can be understood that a smaller water-absorbing cavity is formed between two adjacent protrusions 107, which can prevent the flexible scraper 101 and the flexible retaining strip 104 from being squeezed together during the advancement process, and can maintain the basic shape of the water-absorbing cavity 105. This ensures that the sewage on the surface of the curtain wall can enter the water absorption cavity 105 in time, thereby improving the sewage recovery capacity.

In some embodiments, when the flexible scraper 101 is in contact with the cleaning working surface 300, there is a pressing length (ie, area d) between the end of the flexible scraping strip 101 close to the cleaning working surface 300 and the cleaning working surface 300, as shown in Figure 15 shown.

It can be understood that within the range of the pressing length, the flexible scraping strip 101 is in direct contact with the surface of the curtain wall. Appropriately increasing the pressing length can improve the ability of the flexible scraping strip 101 to scrape stains and sewage.

The lamination length determines the extension and deformation ability of the flexible scraper 101. There may also be stains in the gap between two adjacent pieces of glass. When the flexible scraper 101 passes through the gap between the two pieces of glass, the end of the flexible scraper 101 close to the cleaning working surface 300 moves on itself. It enters the gap under the action of elasticity and can scrape off the stains in the gap, and has strong cleaning ability.

In some embodiments, the lamination length is between 1.0 mm and 4.0 mm.

It can be understood that based on the elasticity of the flexible scraper 101 itself, when the angle between the flexible scraper 101 and the cleaning working surface 300 is small, the pressure of the flexible scraping strip 101 on the cleaning working surface 300 is small, and it is difficult to remove the curtain wall surface. stains, and its ability to scrape away sewage is weak. When the flexible scraper 101 and the cleaning working surface 300 are at a preset angle, the flexible scraper 101 can scrape stains on the surface of the curtain wall under its own elasticity, and can also efficiently scrape sewage on the surface of the curtain wall, resulting in a better cleaning effect. At the same time, when the flexible scraper 101 and the cleaning working surface 300 are at a preset angle, the hardness of the flexible scraper 101 can be appropriately reduced, which reduces the friction between the flexible scraper 101 and the curtain wall surface, and can avoid scratches.

The cleaning robot of the present disclosure will be described below with reference to Figures 16-29.

According to an embodiment of the present disclosure, with reference to FIGS. 16-29 , a cleaning robot provided by the present disclosure mainly includes: a walking body 100 and a cleaning device 200 . Among them, the traveling body 100 can move on the surface of the curtain wall, and the cleaning device 200 is installed at the front and rear ends of the traveling body 100 along the traveling direction. The traveling body 100 can drive the cleaning device 200 to move, thereby cleaning the dust on the surface of the curtain wall.

Generally, the cleaning device 200 is symmetrically arranged at the front and rear ends of the walking body 100. If designed in this way, on the one hand, the cleaning robot moves in one direction with the walking body 100, with the walking body 100 located in the middle, and the cleaning devices 200 at its front and rear ends. Can be implemented simultaneously After two cleanings, the cleaning effect is more thorough; on the other hand, this structure can realize complete cleaning of the curtain wall side, avoid cleaning dead corners caused by the existence of the walking body 100, and achieve thorough cleaning of the area to be cleaned without dead corners, which can effectively Improve cleaning effect.

The cleaning device 200 mainly includes: an installation frame 201 and two sets of scraper assemblies 202. The installation frame 201 is installed on the walking body 100 through a flexible support structure 300. On the one hand, it can elastically avoid obstacles and protect the cleaning device, and on the other hand, the walking body It can walk more stably and ensure normal operation; the two sets of scraper assemblies 202 are swingably arranged on opposite sides of the mounting frame 201, and when the two sets of scraper assemblies 202 swing, they are suitable for switching between the initial state and the cleaning state. , in the initial state, the two sets of scraper assemblies 202 are lifted to separate from the surface to be cleaned to facilitate walking, as shown in Figure 20; in the cleaning state, the scraper assembly 202 at the rear side along the walking direction is pressed down to be in contact with the surface to be cleaned. The cleaning surfaces are in contact with each other so that the side scraper assembly 202 can scrape and clean the surface to be cleaned, as shown in Figure 21 .

It can be understood that during cleaning, the left scraper assembly 202 can be pressed down, and at this time, the right scraper assembly 202 continues to be lifted; or the right scraper assembly 202 can be pressed down, and at this time, the left scraper assembly 202 can be pressed down. Component 202 continues to be lifted.

Among them, the initial state can be understood as the state before cleaning, and is reset to the initial state after cleaning to avoid interference with movement and facilitate walking on the road; the cleaning state can be understood as the state during cleaning use, at this time, in the walking direction The scraper assembly 202 on the rear side falls down and fits the surface to be cleaned, and transforms into a working scraper assembly to realize scraping and cleaning. The other set of scraper assemblies 202 rises and separates from the surface to be cleaned.

For example: when the cleaning robot is cleaning upward, the lower scraper assemblies 202 at the front and rear ends can swing simultaneously to the downward pressing state to fit the surface to be cleaned. When it is necessary to clean downward, the upper scraper assemblies 202 at the front and rear ends can swing at the same time. When the pressed state is in contact with the surface to be cleaned, after cleaning is completed, the scraper assemblies 202 on both sides of the front and rear ends are all reset to the initial state, making it easier for the cleaning robot to move on the road surface. Therefore, in the present disclosure, the scraper assemblies 202 of the cleaning device 200 at the front and rear ends can be used to raise or lower both sides. During cleaning, the walking body 100 only needs to move up and down to turn around and clean in both directions. There is no need to turn around, and it is very convenient to use. Convenient and can effectively improve cleaning efficiency.

According to an embodiment of the present disclosure, with reference to Figures 28 and 29, the flexible support structure 300 includes: a support frame 301 and a lateral movement component. The support frame 301 is connected to the walking body 100; the lateral movement components are respectively connected to the installation frame 201 and the support. The racks 301 are connected and configured to move the cleaning device 200 laterally. Specifically, when the side of the cleaning device 200 encounters an obstacle, through the buffering motion of the lateral movement component, a hard collision between the cleaning device 200 and the obstacle can be avoided, and the obstacle can be avoided, thereby preventing the collision impact force from being transmitted to the cleaning robot. The walking body 100 protects the cleaning device 200 and enables the walking body 100 to walk more stably to ensure normal operation.

In one example, the lateral movement component includes: a sliding part 302 and a first elastic component 303. The sliding part 302 is laterally slidably connected to the mounting bracket 201. The first end of the first elastic component 303 is connected to the sliding part 302. The second end of the elastic component 303 is connected to the end cover carbon plate 219 at the end of the mounting frame 201 . When the side encounters an obstacle, the first elastic component 303 is compressed, and the cleaning device 200 can slide laterally relative to the walking body 100 through the sliding part 302, that is, move left and right, and reset after avoiding the obstacle. Among them, multiple groups of transverse motion components can be arranged in parallel; the first elastic component 303 can be a spring or other component.

According to an embodiment of the present disclosure, a vertical telescopic component is provided between the support frame 301 and the transverse movement component. By arranging the vertical telescopic assembly, the cleaning device 200 can be moved closer to or away from the surface to be cleaned, that is, moved up and down to overcome obstacles.

In one example, the vertical telescopic assembly includes: a sleeve 304, a connecting rod 305 and a second elastic component 306. The sleeve 304 is vertically installed on the support frame 301, and the connecting rod 305 passes through the sleeve 304 and the sliding part 302. Connected, the second elastic component 306 is sleeved on the connecting rod 305 and is located between the sleeve 304 and the sliding part 302 . When the bottom encounters an obstacle, the second elastic component 306 is compressed, and the cleaning device 200 can slide vertically through the connecting rod 305, and then resets after avoiding the obstacle. The vertical telescopic components can be arranged in multiple groups in parallel; the second elastic component 306 can be a spring or other components.

According to an embodiment of the present disclosure, with reference to FIGS. 17-19 , the cleaning device further includes: a driving assembly, which is disposed on the mounting frame 201 and configured to drive two sets of scraper assemblies 202 to swing.

According to an embodiment of the present disclosure, with reference to Figures 17-22, the driving assembly mainly includes: a driving motor 203, a steering shaft 204 and a pulling mechanism. Among them, the driving motor 203 is installed on the mounting frame 201. Specifically, it can be installed on one end of the mounting frame 201, and is located between the two sets of scraper assemblies 202. The driving motor 203 can be a reduction motor or other types of motors; the steering shaft 204 and The driving motor 203 is transmission connected, and the steering shaft 204 is arranged along the length direction of the mounting frame 201 for transmitting torque; the pulling mechanism is transmission connected with the two sets of scraper assemblies 202 and the steering shaft 204 respectively, and is configured to pull the two sets of scraper assemblies 202 Make a swing. Specifically, the driving motor 203 drives the steering shaft 204 to rotate, and the steering shaft 204 drives the pulling mechanism to move, thereby realizing the lifting or lowering of the scraper assembly.

Among them, the pulling mechanism includes: a steering handle 205 and two sets of connecting rod pairs. The steering handle 205 is arranged on the steering shaft 204. The two sets of connecting rod pairs respectively correspond to the two sets of scraper assemblies 202. In the initial state, the two sets of connecting rods The rod pairs are symmetrically distributed on both sides of the steering shaft 204. Each connecting rod pair includes: a first connecting rod 206, a second connecting rod 207 and an elastic member 208. The first end of the first connecting rod 206 of the two connecting rod pairs are connected to the steering handle 205. In each set of connecting rod pairs, the second connecting rod 207 is swingably connected to the scraper assembly 202, and the end of the second connecting rod 207 is hinged with the second end of the first connecting rod 206. The elastic member 208 is disposed on the side of the second link 207, and the two ends of the elastic member 208 are pressed against the mounting bracket 201 and the second link 207 respectively.

Referring to Figures 20 and 21, in the initial state, the two sets of connecting rod pairs are smoothly lifted on both sides of the steering shaft 204 due to the pulling force of the driving motor 203 respectively. When switching from the initial state to the cleaning state, For example, when the driving motor 203 drives the steering shaft 204 to rotate to the left, the right second link 207 overcomes the resilience of the right elastic member 208 and continues to pull and lift the right scraper assembly 202; at the same time, the driving motor 203 Release the left first link 206, and the left first link 206 is no longer subject to the pulling force of the driving motor 203. At this time, under the rebound force of the left elastic member 208, the left scraper assembly 202 is pressed down, It is attached to the surface to be cleaned and transformed into a working scraper assembly to achieve cleaning. When the driving motor 203 rotates to the right, the same applies; after the cleaning is completed, it switches to the initial state again. Therefore, the present disclosure can realize the state switching of the left and right scraper assemblies 202 by controlling the forward and reverse rotation of the driving motor 203.

The specific type of the elastic member 208 of the present disclosure is not particularly limited, and may be a torsion spring, a reed, a spring, etc., for example.

According to an embodiment of the present disclosure, the second end of the first link 206 is provided with a chute 209. The chute 209 is specifically a waist groove structure, and the end of the second link 207 is provided with a chute 209 that matches the chute 209. The connecting column 210 , that is, the connecting column 210 is hinged with the chute 209 , and the connecting column 210 can slide in the chute 209 .

Specifically, when a protrusion on the surface of the curtain wall exerts a force opposite to the elastic member 208 on the depressed scraper assembly 202, the scraper assembly 202 will be temporarily lifted up and the force will be transmitted to the second link. The connecting column 210 of 207 causes the connecting column 210 to slide in the chute 209 and does not transmit the force to the driving motor 203 . Therefore, the chute 209 of the present disclosure can play a better buffering role, thereby avoiding interference with the operation of the driving motor 203, protecting the driving motor 203, and effectively extending its service life.

Therefore, the embodiment of the present disclosure can realize synchronous linkage control of the swing of two sets of scraper assemblies 202 through one driving motor 203, which can improve work efficiency, simplify the structure, reduce the volume, and reduce the cost.

Moreover, the driving assembly of the embodiment of the present disclosure can improve the stability, long service life, and reliability of the cleaning assembly during cleaning through the transmission cooperation and mechanical design of the driving motor 203, steering shaft 204, steering handle 205, connecting rod pair and other components. higher.

According to an embodiment of the present disclosure, as shown in FIG. 22 , the first connecting rod 206 has a bent structure, that is, a bent rod. With this design, on the one hand, when the driving motor 203 rotates, it can achieve the effect of avoiding the steering shaft 204; on the other hand, it can cause a dead center position to appear during the movement between the first link 206 and the second link 207, for example , when the drive motor 203 rotates clockwise to the right and switches to the cleaning state, the scraper assembly 202 on the left continues to lift, and the steering handle 205 rotates clockwise with the steering shaft 204. During the rotation, there will be a balance line (Fig. 22 middle dotted line) position, at this time, the connection point of the second link 207 and the first link 206, the center point of the steering shaft 204, and the connection point of the steering handle 205 and the first link 206 are collinear; in balance Before the line position, the drive motor 203 needs to be driven to rotate. When the balance line position is reached, due to this structural design, mechanical self-locking can be achieved. That is, the drive motor 203 stops rotating at this time, and the left scraper assembly 202 can also be kept in a lifted state. . Due to this ingenious design, the driving motor 203 can be turned on for a long time, which saves power and protects the driving motor 203, and makes the equipment have a long overall service life and good stability.

According to an embodiment of the present disclosure, as shown in FIG. 21 , the bending angle a of the first connecting rod 206 is approximately 80°˜100°, optionally 90°˜95°.

According to an embodiment of the present disclosure, the mounting bracket 201 is provided with steering shaft supports 211. The steering shaft supports 211 are respectively located at both ends of the steering shaft 204 and are configured to support the steering shaft 204 to ensure stability.

The specific number of the pulling mechanisms of the present disclosure is not particularly limited, and can be designed according to actual working conditions to meet the needs of a scraper assembly with a certain length. In this example, as shown in FIG. 17 , the pulling mechanisms are arranged in two groups, respectively arranged at both ends of the scraper assembly 202 . With this design, the swing stability of the scraper assembly 202 can be further improved to ensure the cleaning effect.

According to an embodiment of the present disclosure, as shown in FIG. 19 , the driving assembly further includes: two micro switches 212 , a trigger 213 and a controller. Among them, two micro switches 212 are arranged on the mounting bracket 201 and are located on both sides of the steering shaft 204; the trigger 213 is arranged on the steering shaft 204 and rotates synchronously with the steering shaft 204, and the trigger 213 is suitable for connecting with the two The micro switch 212 is in contact or separated; the controller is electrically connected to the drive motor 203 and the two micro switches 212 respectively, and is configured to limit the swing of the two sets of scraper assemblies 202 at the first level to achieve electronic limit.

For example, when the driving motor 203 rotates to the left, the steering handle 205 is driven to rotate through the steering shaft 204. The steering handle 205 lifts the right scraper assembly 202 through the right connecting rod pair, and at the same time, the left scraper assembly 202 falls down. When the trigger 213 also rotates with the steering shaft 204, when it rotates to contact the micro switch 212 on the left, the micro switch 212 on the left obtains the position signal and sends it to the controller. At this time, the controller controls The driving motor 203 stops rotating to limit the drop of the scraper assembly 202 on the left side; the same applies to the drop limit of the scraper assembly 202 on the right side.

Moreover, the controller can also be electrically connected to the walking body 100 and configured to control the walking of the walking body 100 .

According to an embodiment of the present disclosure, as shown in FIG. 18 , the driving assembly further includes: two limiting blocks 214 , the two limiting blocks 214 can be provided on the mounting bracket 201 or the steering shaft support 211 , and the two limiting blocks 214 The position blocks 214 are located on both sides of the steering handle 205. The two limit blocks 214 are suitable for contacting or separating from the steering handle 205, and are configured to perform secondary limiting on the swing of the two sets of scraper assemblies 202 to achieve mechanical limiting.

For example, when the driving motor 203 rotates to the left, the steering handle 205 is driven to rotate through the steering shaft 204, and the steering handle 205 lifts the right scraper assembly 202 through the right connecting rod pair, and at the same time, the left scraper assembly 202 falls down. When the trigger 213 also rotates with the steering shaft 204, when it rotates to contact the micro switch 212 on the left, the micro switch 212 on the left obtains the position signal and sends it to the controller. At this time, the controller controls The drive motor 203 starts to stop rotating, and it will decelerate and keep rotating for a certain distance to the mechanical limit position. At this time, the left limit block 214 resists the steering handle 205, realizing a two-level limit for the left scraper assembly 202 to fall; The same applies to the two-level limit on the falling of the scraper assembly 202 on the right side.

In this embodiment, through the positional relationship between the trigger 213, the micro switch 212, the steering handle 205 and the limit block 214, the trigger 213 first touches the micro switch 212 to reach the first level limit, so that the drive motor 203 decelerates. Finally, the steering handle 205 comes into contact with the limiting block 214 to achieve mechanical limiting. That is, the thread of the first-level limit is smaller than the second-level limit.

Therefore, when the scraper assembly 202 on one side is dropped, the embodiment of the present disclosure sets a two-level low-level limiting structure, namely an electronic limiting structure and a mechanical limiting structure, that is, a first-level limiting structure achieved through electronic contact, so that the driving motor 203 Slow down, and then perform mechanical limiting through the limit block 214, which can achieve the effect of protecting the rotating handle 205 and its components, ensure the stability of the device, extend its service life, and achieve precise position limiting of the scraper component 202, effectively ensuring The stability of the scraper assembly 202; on the other hand, the scraper assembly 202 on the other side can be lifted without being too high, thereby improving the stability of the entire machine.

The specific number of driving components in this disclosure is not particularly limited and can be designed according to actual working conditions. For example, when the scraper assembly 202 of the cleaning device 200 is long, two sets of driving assemblies or more may be provided.

According to an embodiment of the present disclosure, as shown in FIGS. 20 and 21 , the scraper assembly 202 generally includes a scraper 2021 and a scraper film 2022 . The upper side of the scraper 2021 is hinged with the mounting bracket 201 , and the lower side of the scraper 2021 is hinged. It is equipped with a scraper film 2022. By using film instead of hard materials, it can avoid scratching the surface to be cleaned, and when the surface to be cleaned is uneven, it can adaptively fit the surface to be cleaned to ensure the cleaning effect and is highly adaptable. Features.

According to an embodiment of the present disclosure, the two scraper assemblies 202 have a gradually expanding structure along the vertical direction from away from to close to the surface to be cleaned. For example, the cross-sectional shape of the two sets of scraper assemblies 202 is roughly in the shape of a figure eight, and is symmetrically distributed on both sides of the mounting bracket 201. This design can realize the corresponding cleaning function, improve the stability and reliability of the swing while installing the requirements, and have good overall performance. .

According to an embodiment of the present disclosure, with reference to Figures 20 and 23-27, the cleaning device also includes a drum assembly. The drum assembly mainly includes: a drum 215 and an outer rotor motor 216. The drum 215 can be moved along the length direction of the mounting frame 201. Rotatingly disposed at the bottom of the mounting frame 201 and between the two sets of scraper assemblies 202, brushes 217 are distributed on the outer circumferential surface of the drum 215; the outer rotor motor 216 is disposed in the inner cavity of the drum 215 and can be electrically connected to the controller. connected, configured to drive the drum 215 to rotate relative to the mounting bracket 201; and the mounting bracket 201 is provided with a connected water chamber and a water outlet 218, and the water chamber of the mounting bracket 201 is suitable for supplying water to the outer circumferential surface of the drum 215 through the water outlet 218, Achieve water washing of the surface to be cleaned.

During the working process of the cleaning device 200, the cleaning water in the water tank on the walking body 100 is pumped into the water chamber through the water pipe through the water pump, and is sprinkled through the water outlet 218 on the mounting frame 201 to the drum 215 below it. As the drum 215 moves It rotates and is continuously moistened by the cleaning water above. As long as the drum 215 keeps rotating, it can always bring water evenly to roll and clean the surface to be cleaned, achieving a sustainable cleaning effect; at the same time, the scraper assembly 202 can also be scraped and cleaned synchronously.

Therefore, the embodiment of the present disclosure combines the scraping cleaning of the scraper assembly 202 with the water cleaning of the drum assembly to achieve dual cleaning of spraying water and scraping at the same time, effectively improving the cleaning effect; and, the present disclosure combines the external rotor motor with the 216 is installed in the inner cavity of the drum 215, realizing the built-in design of the motor, thereby achieving the miniaturization and quality of the structure, reducing the space occupied by the drum assembly, and making the rotational motion of the drum 215 more stable.

In one embodiment, with reference to Figures 17, 23 and 24, the two ends of the mounting frame 201 are respectively provided with end cover carbon plates 219, and the two ends of the drum 215 are rotatably connected to the two end cover carbon plates. 219, and at least one end of the drum 215 is provided with an outer rotor motor 216. The outer rotor 2161 of the outer rotor motor 216 is fixedly connected to the inner cavity of the drum 215. The inner stator 2162 of the outer rotor motor 216 is connected to the end cover carbon plate through a connector 2163. 219 is fixedly connected, and the outer rotor 2161 of the outer rotor motor 216 can drive the drum 215 to rotate synchronously.

In this example, the outer wall of the outer rotor 2161 of the outer rotor motor 216 is surrounded by a plurality of protrusions 2164, and the inner cavity of the drum 215 is surrounded by a plurality of clamping grooves 2165. Each protrusion 2164 is engaged with each one in a one-to-one correspondence. In the slot 2165, the outer rotor motor 216 and the drum 215 can be detachably assembled.

According to an embodiment of the present disclosure, with reference to Figures 25-27, the bottom of the mounting bracket 201 is provided with a water tank 220 extending axially along the drum 215. The bottom of the water tank 220 is open and facing the outer peripheral surface of the drum 215. The mounting bracket 201 is also provided with a water inlet 221 connected with the water tank 220. Multiple water inlets 221 can be provided at intervals along the length direction of the mounting frame 201.

A detachable water guide member 222 is provided in the water tank 220. The water guide member 222 and the water tank 220 jointly define a water outlet chamber. A water outlet 218 is provided at the bottom of the water guide member 222.

In this embodiment, the cleaning water flows from the water inlet 221 into the sink 220 and into the water guide 222. Then the water flows out through the water outlet 218 at the bottom of the water guide 222 to the drum 215 located below the installation frame 201, so that Clean and moisten the brush 217 located on the outer surface of the drum 215.

Among them, since the water guide 222 is detachably installed in the sink 220, when the water outlet 218 is blocked, the user can pull the water guide 222 out of the sink 220 and clean the water guide 222, thereby Wash away the impurities blocked in the water outlet 218 to ensure the normal use of the water guide 222.

Referring to Figure 27, the water guide 222 is a long groove-shaped part with an open top. Both the water guide 222 and the water tank 220 extend along the axial direction of the drum 215. The bottom of the water guide 222 is provided with a plurality of water outlets 218. And multiple water outlets 218 are evenly spaced along the length direction of the water guide member 222, so that the drum 215 can be evenly moistened with water along its length direction; and the water guide member 222 is slidably fitted in the water tank 220. When the water outlet 218 is blocked, , the user can directly pull out the water guide member 222 from the sink 220 for cleaning, which is convenient to use.

According to one embodiment of the present disclosure, when the roller assembly rotates, it conforms to the tangential direction of the surface to be cleaned and presses down on the scraper assembly 202 .

For example, when the drum assembly rotates clockwise, the tangential direction of the scraper assembly 202 that is aligned with the surface to be cleaned is toward the rear side, the cleaning device advances, and the scraper assembly 202 that is at the rear side along the traveling direction presses down to fit with the surface to be cleaned. Transformed into a working scraper assembly, at this time, the water droplets driven by the drum assembly during the rotation process are concentrated between the drum assembly and the working scraper assembly. This can achieve effective adsorption of sewage and prevent the sewage from being thrown out of the scraper raised on the front side. Board assembly 202.

According to an embodiment of the present disclosure, the length of the scraper assembly 202 is not less than the length of the drum assembly to ensure the cleaning effect.

In summary, the cleaning robot of the present disclosure can realize two-way cleaning without turning, and has the characteristics of reasonable structural layout, high space utilization, good cleaning effect, and high stability and reliability.

The cleaning device and cleaning robot of the present disclosure will be described below with reference to Figures 30-41.

According to an embodiment of the first aspect of the present disclosure, as shown in FIGS. 30-41 , the cleaning device provided by the present disclosure mainly includes: a mounting frame 100 , two sets of scraper assemblies 200 and a driving assembly 300 . Among them, the mounting frame 100 serves as the main carrying body and can be assembled with components such as the scraper assembly 200 and the driving assembly 300; two sets of scraper assemblies 200 are swingably disposed on opposite sides of the mounting frame 100, and the driving assembly 300 is mainly configured to drive both sides. The scraper assembly 200 swings.

The driving assembly 300 includes: a driving motor 301, a steering shaft 302 and a pulling mechanism. The driving motor 301 is arranged on the mounting frame 100. Specifically, it can be mounted on one end of the mounting frame 100 and is located between the two sets of scraper assemblies 200. The driving motor 301 It can be a reduction motor or other types of motors; the steering shaft 302 is transmission connected with the driving motor 301, and the steering shaft 302 can be arranged along the length direction of the mounting frame 100 for transmitting torque; the pulling mechanism includes: a steering handle 303 and two sets of connectors. Rod pair, the steering handle 303 is arranged on the steering shaft 302, the first ends of the two sets of connecting rod pairs are connected to the steering handle 303, and the second ends of the two sets of connecting rod pairs are respectively connected to the two sets of scraper assemblies 200, that is, the two sets of connecting rod pairs are connected to the steering handle 303. The sets of connecting rod pairs correspond to the two sets of scraper assemblies 200 one-to-one.

When the driving assembly 300 drives the two sets of scraper assemblies 200 to swing, the two sets of scraper assemblies 200 can be switched between the initial state and the cleaning state. In the initial state, the two sets of scraper assemblies 200 are lifted up to separate from the surface to be cleaned. To facilitate walking, as shown in Figure 33; in the cleaning state, one set of scraper assemblies 200 is pressed down to fit the surface to be cleaned, so that the side scraper assembly 200 can scrape and clean the surface to be cleaned, as shown in Figure 34 shown. Specifically, the driving motor 301 drives the steering shaft 302 to rotate, the steering shaft 302 drives the pulling mechanism, and the pulling mechanism pulls the two sets of scraper assemblies 200 to realize alternate switching between the two sets of scraper assemblies 200 in the lifted and dropped states.

It can be understood that during cleaning, the left scraper assembly 200 can be pressed down, and at this time, the right scraper assembly 200 continues to be lifted; or the right scraper assembly 200 can be pressed down, and at this time, the left scraper assembly 200 can be pressed down. Component 200 continues to be lifted.

Among them, the initial state can be understood as the state before cleaning, and is reset to the initial state after cleaning to avoid interference with movement and facilitate walking on the road; the cleaning state can be understood as the state during cleaning use. At this time, one of the groups of scrapers The plate assembly 200 falls down and fits the surface to be cleaned, and transforms into a working scraper assembly to realize scraping and cleaning. The other set of scraper assemblies 200 rises and separates from the surface to be cleaned.

For example: when cleaning upward, the lower scraper assembly 200 can swing to a downward pressure state to fit the surface to be cleaned. When downward cleaning is required, the upper scraper assembly 200 can swing to a downward pressure state to fit the surface to be cleaned. , after cleaning is completed, the scraper assemblies 200 on both sides are reset to the initial state to facilitate the cleaning robot to move on the road surface. Therefore, the present disclosure can tilt or drop through two sets of scraper assemblies 200. When cleaning, the cleaning robot only needs to move up and down to clean in both directions without turning around. It is very convenient to use and can effectively improve cleaning efficiency.

Therefore, the cleaning device of the embodiment of the present disclosure can realize synchronous linkage control of the two sets of scraper assemblies 200 through a driving motor 301, which can improve work efficiency, simplify the structure, reduce the volume, and reduce the cost; and, the present disclosure uses a pulling mechanism to drive Cooperation and mechanical design can improve the stability of the scraper assembly 200 during cleaning, thereby improving the cleaning effect. It has the characteristics of simple structure, safety and reliability, and long service life.

According to an embodiment of the present disclosure, the cross-sectional shape of the two sets of scraper assemblies 200 is roughly a figure-eight shape and is symmetrically distributed on both sides of the mounting frame 100. This design can realize corresponding cleaning functions and improve the stability of the swing while meeting installation requirements. Reliability and good overall performance.

According to an embodiment of the present disclosure, with reference to FIGS. 31-35 , each group of connecting rods includes: a first connecting rod 304 , a second connecting rod 305 and an elastic member 306 , and the first connecting rod pair of the two groups of first connecting rods 304 Both ends are connected to the steering handle 303. In each set of connecting rod pairs, the second connecting rod 305 is swingably connected to the scraper assembly 200, and the end of the second connecting rod 305 is hingedly connected to the second end of the first connecting rod 304. , the elastic member 306 is disposed on the side of the second link 305, and the two ends of the elastic member 306 are pressed against the mounting bracket 100 and the second link 305 respectively.

Referring to Figures 33 and 34, in the initial state, the two sets of connecting rod pairs are smoothly lifted on both sides of the steering shaft 302 due to the pulling force of the driving motor 301 respectively. When switching from the initial state to the cleaning state, For example, when the driving motor 301 drives the steering shaft 302 to rotate to the left, the right second link 305 overcomes the resilience of the right elastic member 306 and continues to pull and lift the right scraper assembly 200; at the same time, the driving motor 301 Release the left first link 304, and the left first link 304 is no longer subject to the pulling force of the driving motor 301. At this time, under the rebound force of the left elastic member 306, the left scraper assembly 200 is pressed down, It is attached to the surface to be cleaned and transformed into a working scraper assembly to achieve cleaning. When the drive motor 301 rotates to the right, the same applies; after the cleaning is completed, it switches to the initial state again. Therefore, the present disclosure can realize the state switching of the left and right scraper assemblies 200 by controlling the forward and reverse rotation of the driving motor 301.

The specific type of the elastic member 306 of the present disclosure is not particularly limited. For example, it may be a torsion spring, a reed, a spring, etc.

According to an embodiment of the present disclosure, in the initial state, the two sets of connecting rod pairs are symmetrically distributed on both sides of the steering shaft 302. Such a design can improve the stability of the two sets of scraper assemblies 200.

According to an embodiment of the present disclosure, the second end of the first connecting rod 304 is provided with a chute 307. The chute 307 is specifically a waist groove structure, and the end of the second connecting rod 305 is provided with a connection that matches the chute 307. The column 308 , that is, the connecting column 308 is hinged with the chute 307 , and the connecting column 308 can slide in the chute 307 .

Specifically, when a protrusion on the surface of the curtain wall exerts a force opposite to the elastic member 306 on the depressed scraper assembly 200, the scraper assembly 200 will be temporarily lifted up and the force will be transmitted to the second link. 305 of the connecting column 308, so that the connecting column 308 slides in the chute 307 without transmitting the force to the driving motor 301. Therefore, the chute 307 of the present disclosure can play a better buffering role, thereby avoiding any impact on the operation of the driving motor 301, protecting the driving motor 301, and effectively extending its service life.

According to an embodiment of the present disclosure, as shown in FIG. 35 , the first link 304 is a curved link, so that the first link 304 and the second link 305 have a dead point position during the movement, and the dead point position is: The connection point between the second link 305 and the first link 304, the center point of the steering shaft 302, and the connection point between the steering handle 303 and the first link 304 are collinear.

In this disclosure, the first connecting rod 304 is designed as a bent structure. With this design, on the one hand, when the driving motor 301 rotates, the effect of avoiding the steering shaft 302 can be achieved; on the other hand, the first connecting rod 304 can be connected to the first connecting rod 304. A dead center position occurs during the movement between the two links 305. For example, when the drive motor 301 rotates clockwise to the right and switches to the cleaning state, the scraper assembly 200 on the left continues to lift, and the steering handle 303 follows the steering shaft 302. Rotate clockwise. During the rotation, there will be a balance line (dashed line in Figure 35) position. At this time, the connection point between the second link 305 and the first link 304, the center point of the steering shaft 302, and the steering handle 303 The three connection points with the first link 304 are collinear; before the balance line position, the drive motor 301 needs to be driven to rotate. When the balance line position is reached, due to this structural design, mechanical self-locking can be achieved, that is, the drive motor 301 stops at this time. By rotating, the left scraper assembly 200 can also be kept in a lifted state. Due to this ingenious design, the driving motor 301 can be turned on for a long time, which saves power and protects the driving motor 301, and makes the equipment have a long overall service life and good stability.

According to an embodiment of the present disclosure, as shown in FIG. 34 , the bending angle a of the first connecting rod 304 is approximately 80° to 100°, preferably 90° to 95°.

According to an embodiment of the present disclosure, the mounting bracket 100 is provided with steering shaft supports 309. The steering shaft supports 309 are respectively located at both ends of the steering shaft 302 and are configured to support the steering shaft 302 to ensure stability.

The specific number of pulling mechanisms in the present disclosure is not particularly limited, and can be designed according to actual working conditions to meet the needs of the scraper assembly 200 with a certain length. In this example, as shown in FIG. 30 , the pulling mechanisms are arranged in two groups, respectively arranged at both ends of the scraper assembly 200 . With this design, the swing stability of the scraper assembly 200 can be further improved, thereby ensuring the cleaning effect.

According to an embodiment of the present disclosure, as shown in FIG. 32 , the driving assembly 300 further includes: two micro switches 310 , a trigger 311 and a controller. Among them, two micro switches 310 are arranged on the mounting bracket 100 and are located on both sides of the steering shaft 302; the trigger 311 is arranged on the steering shaft 302 and rotates synchronously with the steering shaft 302, and the trigger 311 is suitable for connecting with the two The micro switch 310 is in contact or separated; the controller is electrically connected to the drive motor 301 and the two micro switches 310 respectively, and is configured to limit the swing of the two sets of scraper assemblies 200 at the first level to achieve electronic limit.

For example, when the driving motor 301 rotates to the left, the steering handle 303 is driven to rotate through the steering shaft 302. The steering handle 303 lifts the right scraper assembly 200 through the right connecting rod pair, and at the same time, the left scraper assembly 200 falls down. When, the trigger 311 also rotates to the left along with the steering shaft 302. When it rotates to contact the micro switch 310 on the left, the micro switch 310 on the left obtains the position signal and sends it to the controller. At this time, The controller controls the driving motor 301 to stop rotating to limit the drop of the scraper assembly 200 on the left side; the same applies to the drop limit of the scraper assembly 200 on the right side.

According to an embodiment of the present disclosure, as shown in FIG. 31 , the driving assembly 300 further includes: two limiting blocks 312 , the two limiting blocks 312 can be provided on the mounting bracket 100 or the steering shaft support 309 , and two The limiting blocks 312 are located on both sides of the steering handle 303. The two limiting blocks 312 are suitable for contacting or separating from the steering handle 303, and are configured to perform secondary limiting on the swing of the two sets of scraper assemblies 200 to achieve mechanical limiting.

For example, when the driving motor 301 rotates to the left, the steering handle 303 is driven to rotate through the steering shaft 302, and the steering handle 303 lifts the right scraper assembly 200 through the right connecting rod pair, and at the same time, the left scraper assembly 200 falls down. At this time, the trigger 311 also rotates with the steering shaft 302. When it rotates to contact the micro switch 310 on the left, the micro switch 310 on the left obtains the position signal and sends it to the controller. At this time, the controller controls The drive motor 301 starts to stop rotating, and it will decelerate and keep rotating for a certain distance to the mechanical limit position. At this time, the left limit block 312 resists the steering handle 303, achieving a two-level limit for the left scraper assembly 200 to fall; The same applies to the two-level limit on the falling of the scraper assembly 200 on the right side.

In this embodiment, through the positional relationship between the trigger 311, the micro switch 310, the steering handle 303 and the limit block 312, the trigger 311 first touches the micro switch 310 to reach the first level limit, so that the drive motor 301 decelerates. Finally, the steering handle 303 comes into contact with the limiting block 312 to achieve mechanical limiting. That is, the thread of the first-level limit is smaller than the second-level limit.

Therefore, when the scraper assembly 200 on one side is dropped, the embodiment of the present disclosure provides a two-level low-level limiting structure of an electronic limiting structure and a mechanical limiting structure, that is, a first-level limiting structure achieved through electronic contact, so that the driving motor can 301 decelerates, and then mechanically limits the position through the limit block 312, which can achieve the effect of protecting the rotating handle 303 and its components, ensure the stability of the device, extend its service life, and achieve precise position limiting of the scraper component 200, effectively The stability of the scraper assembly 200 is ensured; on the other hand, the scraper assembly 200 on the other side can be lifted without being too high, thereby improving the stability of the entire machine.

The specific number of driving components 300 in this disclosure is not particularly limited and can be designed according to actual working conditions. For example, when the scraper assembly 200 of the cleaning device is long, two sets of driving assemblies 300 or more may be provided.

According to one embodiment of the present disclosure, as shown in FIGS. 33 and 34 , the cleaning device of the present disclosure further includes: a drum assembly 400 , which is rotatably disposed at the bottom of the mounting frame 100 and located between the two sets of scraper assemblies 200 Time is used to wash the treated surface with water.

The specific type of the drum assembly 400 of the present disclosure is not particularly limited, as long as rolling water washing can be achieved.

According to one embodiment of the present disclosure, the scraper assembly 200 has a water suction cavity. The water suction cavity is provided with a water suction inlet 201 and a water suction outlet 202. The water suction inlet 201 faces the drum assembly 400, and the water suction outlet 202 is configured to be connected with a suction device. Specifically, when the suction equipment on the cleaning robot body is working, the sewage generated after the cleaning surface is washed enters the water suction chamber through the water suction inlet 201, and is pumped away from the water suction outlet 202, achieving efficient recovery of sewage without residual sewage, thus Improve cleaning effect. Generally, the sewage discharged from the water suction outlet 202 can be recycled into the sewage recovery tank on the cleaning robot body.

According to an embodiment of the present disclosure, as shown in FIGS. 36-39 , the scraper assembly 200 generally includes a scraper 203 and a scraper film. The upper side of the scraper 203 is hinged with the installation guide groove of the mounting bracket 100 to realize the entire scraping process. The plate assembly 200 can rotate relative to the mounting frame 100. The scraper 203 is formed with a first water-absorbing cavity 204. A scraper film is installed on the lower side of the scraper 203. The scraper film includes: a water-blocking film 205 and a water-leakage film 206. The water-blocking film 205 is spaced apart from the water leakage film 206 to construct a second water absorption chamber 207. The second water absorption chamber 207 is connected with the first water absorption chamber 204 to form a water absorption chamber, and the water blocking film 205 is located on the outside of the water leakage film 206 facing away from the drum assembly 400. , the water leakage film 206 is provided with a water suction inlet 201, and the scraper 203 is provided with a water suction outlet 202.

By using film instead of hard materials, the disclosed embodiment can avoid scratching the surface to be cleaned, and when the surface to be cleaned is uneven, it can adaptively fit the surface to be cleaned to ensure the cleaning effect, and is highly adaptable.

According to an embodiment of the present disclosure, the water-blocking film 205 and the water-leakage film 206 are arranged at an angle, and a plurality of spacers 208 are arranged at intervals along the length direction between the water-blocking film 205 and the water-leakage film 206 to separate the second water-absorbing chamber. 207 is divided into a plurality of third water suction chambers. At this time, multiple water suction inlets 201 are provided, and each third water suction chamber is connected to each water suction inlet 201 in a one-to-one correspondence.

It can be understood that the partition 208 can be disposed on the water blocking film 205 or the water leakage film 206. On the one hand, the partition 208 can separate the water blocking film 205 and the water leakage film 206 to form a second water absorption. Cavity 207, on the other hand, the second water suction chamber 207 with a larger volume can be further divided into a plurality of third water suction chambers with a smaller volume through multiple partitions 208, which is beneficial to increasing the suction speed of sewage, thereby achieving good results. Water absorption effect, thereby improving sewage recovery efficiency.

In this example, as shown in FIGS. 38 and 39 , the water suction inlet 201 is provided on the lower side of the water leakage film 206 , and the lower side of the water suction inlet 201 has an opening structure. With this design, when the water leakage film 206 fits the surface to be cleaned, , the sewage can flow into the third water suction chamber through the water suction inlet 201 relatively smoothly.

In the cleaning state, the suction equipment is turned on, and the working scraper assembly moves along the cleaning direction. The sewage is blocked and enters the small third water suction chambers from the water suction inlet 201, and then enters the first water suction chamber 204, and then passes through the water suction chamber. Outlet 202 discharges. Generally, since the length of the scraper assembly 200 is not less than the length of the drum assembly 400, complete recovery of sewage can be achieved, and a high recovery rate of sewage can be achieved by the close contact between the scraper assembly 200 and the surface to be cleaned.

According to one embodiment of the present disclosure, as shown in FIGS. 36 and 37 , the scraper 203 includes double-layer plates arranged at intervals to form a first water-absorbing cavity 204 between the double-layer plates, and the upper sides of the two-layer plates are The closed structure has an open structure on the lower side to facilitate communication with the second water absorption chamber 207. In addition, cover plates 209 are respectively provided at both ends of the scraper 203.

According to an embodiment of the present disclosure, the cross-sectional shape of the first water-absorbing chamber 204 is flat, and the double-layer plates are nearly parallel. With this design, a small first water suction chamber 204 can be formed to achieve a higher sewage suction speed, and with a plurality of distributed small third water suction chambers, a higher sewage recovery rate and faster suction can be achieved. effect, ultimately achieving efficient cleaning efficiency.

In addition, a connecting groove 210 is provided on the lower side of the scraper 203. The water blocking film 205 and the water leakage film 206 have a connecting portion 211. The connecting portion 211 can be pushed tightly into the connecting groove 210 from the side, thereby realizing the scraping film and the scraper. The detachable assembly of 203 allows for quick replacement of the squeegee film.

According to an embodiment of the present disclosure, with reference to FIGS. 30 , 40 and 41 , the cleaning device of the present disclosure further includes: a water path switching valve 500 , and the water path switching valve 500 includes a valve housing 501 , a valve core 502 and other components. Among them, the valve housing 501 is arranged on the mounting bracket 100, the steering shaft 302 passes through the valve housing 501, the water suction outlets 202 of the two sets of scraper assemblies 200 are connected to the valve housing 501 through the first water channel, and the valve housing 501 is configured to pass through the second water channel. The water path is connected to the suction equipment; the valve core 502 is located in the valve housing 501 and connected to the steering shaft 302. In the cleaning state, the valve core 502 is suitable for disconnecting the first water path corresponding to the lifted scraper assembly 200. Specifically, when the steering shaft 302 rotates, the valve core 502 can be rotated synchronously, thereby switching on and off the first water channels corresponding to the two scraper assemblies 200 .

It can be understood that, in the initial state, since the suction device stops working, there is no special restriction on the specific position of the valve core 502 in the initial state.

In a specific example, the valve housing 501 is provided with two sewage inlets 503 and sewage outlets 504. The two sewage inlets 503 are respectively connected to the water suction outlets 202 of the two sets of scraper assemblies 200 through the first waterway. During cleaning, In the state, the valve core 502 can close the sewage inlet 503 corresponding to the raised scraper assembly 200; the sewage outlet 504 is located between the two sewage inlets 503 and is configured to be connected to the suction equipment through the second waterway.

Since each scraper assembly 200 has the effect of sucking sewage, the sewage is sucked, enters the first water suction chamber 204 from the water suction inlet 201 of the scraper film, and then passes through the water suction outlet 202 on the scraper 203, and enters through the pipes respectively. In the valve housing 501, in the clean state, for example, when the left scraper assembly 200 is lifted, the valve core 502 just rotates to block the corresponding sewage inlet 503, disconnecting the first waterway on that side to avoid being lifted. The left scraper assembly 200 has a vacuum phenomenon, that is, it does not fit the surface to be cleaned and cannot recover sewage. Instead, air is sucked into the valve housing 501 to avoid interference with sewage recovery and improve the sewage recovery effect.

Therefore, the embodiment of the present disclosure realizes the synchronous control of the lifting and lowering switching of the scraper assembly 200 and the switching of left and right sewage recovery through the coaxial movement of the valve core 502 and the steering handle 303. The structure is ingenious and the design is reliable.

According to an embodiment of the second aspect of the present disclosure, the present disclosure also provides a cleaning robot, including: the cleaning device of the above embodiment. Among them, the cleaning device can be arranged at the front end or both front and rear ends of the cleaning robot body.

It is worth mentioning that when the cleaning devices are installed at the front and rear ends of the fuselage, on the one hand, the cleaning robot moves in one direction, with the fuselage in the middle, and the cleaning devices at the front and rear ends can achieve two cleanings at the same time, and the cleaning effect is More thorough; on the other hand, this structure can achieve complete cleaning of the curtain wall side, avoid cleaning dead corners caused by the existence of the fuselage, and achieve thorough cleaning of the area to be cleaned without dead corners, which can effectively improve the cleaning effect.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications may be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions may be made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Industrial applicability

To sum up, when the cleaning device and curtain wall cleaning robot of the present disclosure work on the surface of the curtain wall, the water pumping equipment can form a negative pressure in the opening and the thin cavity. Due to the small size of the thin cavity, the thin cavity can make the liquid at the opening high-speed. The flow to the drain increases the suction speed of sewage, which not only avoids the leakage and dripping of sewage, but also improves the cleanliness of the curtain wall. The disclosed sewage recycling system and curtain wall cleaning robot can scrape stains on the surface of the curtain wall through flexible scrapers under its own elasticity, and can also efficiently scrape sewage on the surface of the curtain wall, with better cleaning effect. The cleaning robot of the present disclosure can achieve two cleanings at the same time by setting cleaning devices at both ends of the walking body along the walking direction, with a more thorough cleaning effect, and can achieve complete cleaning of the curtain wall side, avoiding cleaning caused by the existence of the walking body. Dead ends enable thorough cleaning of the area to be cleaned without any dead ends. The cleaning device and cleaning robot of the present disclosure can realize synchronous linkage control of two sets of scraper assemblies through a driving motor, which can improve work efficiency, simplify the structure, reduce volume, and reduce costs.

Claims

A cleaning device, characterized in that it includes:

At least one scraper assembly (100). The scraper assembly (100) is formed with a thin cavity (102) and a drain outlet (104) connected to the thin cavity (102). The thin cavity (102) faces the cleaning An opening (106) is formed on one side of the working surface;

Wherein, the thin cavity (102) is configured to cause the liquid at the opening (106) to flow toward the drain outlet (104) at a high speed.
The cleaning device according to claim 1, characterized in that the number of the scraper assemblies (100) is two, and both of the scraper assemblies (100) are connected to the mounting bracket (120);

Along the direction from away from to close to the cleaning working surface, the two scraper assemblies (100) have a gradually expanding structure.
The cleaning device according to claim 2, characterized in that the scraper assembly (100) includes:

Inboard scraper(108);

The outer scraper (110) is connected to the inner scraper (108), and the thin cavity (102) is formed between the outer scraper (110) and the inner scraper (108);

Wherein, at least one of the inner scraper (108) and the outer scraper (110) is connected to the mounting bracket (120).
The cleaning device according to claim 3, characterized in that the inner scraper (108) and the mounting bracket (120) are an integral structure;

Alternatively, the inner scraper (108) is hinged to the mounting bracket (120).
The cleaning device according to claim 3, characterized in that the outer scraper (110) is provided with a flow guide portion (1102), and a flow guide portion (1102) is formed in the guide portion (1102) to communicate with the thin cavity (102). ) of the guide channel (1104), the drainage port (104) is formed downstream of the guide channel (1104);

Along the upstream to downstream direction of the flow guide channel (1104), the cross-sectional area of the flow guide channel (1104) gradually decreases.
The cleaning device according to claim 5, characterized in that a guide groove (112) is formed in the thin cavity (102), and the guide groove (112) is configured to guide the opening (106). Sewage flows to the diversion channel (1104).
The cleaning device according to claim 6, characterized in that at least one of adjacent two sides of the inner scraper (108) and the outer scraper (110) is provided with a flow guide protrusion (114), The number of the flow guide protrusions (114) is at least two, and the flow guide groove (112) is formed between two adjacent flow guide protrusions (114).
The cleaning device according to any one of claims 1 to 7, characterized in that the side of the scraper assembly (100) facing the cleaning working surface is provided with flexible scrapers (132) and flexible retaining strips arranged in the same direction. (130), along the forward direction of the cleaning operation, the flexible scraper (132) and the flexible stopper (130) are arranged in sequence;

Wherein, a water-absorbing cavity (134) is formed between the flexible scraper (132) and the flexible retaining strip (130), and the flexible scraper (132) is formed with a water-absorbing cavity (134) connected to the water-absorbing cavity (134). hole (136), the water absorption cavity (134) is connected to the opening (106).
The cleaning device according to claim 8, characterized in that a plurality of juxtaposed protrusions (138) are formed on the side of the flexible scraper (132) close to the flexible blocking bar (130), and two adjacent protrusions (138) are formed in parallel. The water absorption holes (136) are formed between the protrusions (138).
A curtain wall cleaning robot, characterized by comprising the cleaning device according to any one of claims 1 to 9.
A sewage recycling system, characterized by including:

At least one scraper assembly (100), the scraper assembly (100) is provided with a flexible scraper strip (101) on one side close to the cleaning working surface;

Switching assembly (200), connected to the scraper assembly (100);

Wherein, the switching component (200) is configured to make the flexible scraper (101) contact the cleaning working surface (300), and the flexible scraping strip (101) and the cleaning working surface (300) at a preset angle.
The sewage recovery system according to claim 11, characterized in that the number of the scraper assemblies (100) is two, and the two scraper assemblies (100) are arranged in a direction close to the cleaning working surface (300). 100) has a gradually expanding structure;

The switching assembly (200) is connected to the two scraper assemblies (100) and is configured to switch the two scraper assemblies (100) between a first position and a second position;

In the first position, the preset angle is between one of the two flexible scrapers (101) and the cleaning working surface (300);

In the second position, the other one of the two flexible scrapers (101) is at the preset angle with the cleaning working surface (300).
The sewage recycling system according to claim 11 or 12, characterized in that the preset angle is between 45° and 90°.
The sewage recycling system according to claim 12, further comprising:

A valve (110) is formed with a water pumping channel. The valve (110) is connected to the drain ports (102) of the two scraper assemblies (100) and is connected to the switching assembly (200);

Wherein, the switching component (200) switches the position so that the scraper component (100) in contact with the cleaning working surface (300) is connected to the water pumping channel.
The sewage recovery system according to claim 14, characterized in that the valve (110) includes:

The valve housing (112) has a water-conducting chamber formed inside. The valve housing (112) is formed with a water-pumping outlet (114) and two water-pumping inlets (116) connected to the water-conducting chamber. The two water-conducting chambers are formed on the valve housing (112). The inlet (116) is connected to the drainage outlets (102) of the two scraper assemblies (100) in one-to-one correspondence;

The valve core (118) is located in the water conduit chamber and connected to the switching component (200). The valve core (118) includes a shielding portion (120). The switching component (200) switches the position of the valve core (118) to the switching component (200). The blocking part (120) switches between the two pumping inlets (116).
The sewage recycling system according to claim 11 or 12, characterized in that the scraper assembly (100) further includes:

The scraper (103) is drivingly connected to the switching component (200), and the flexible scraper (101) is connected to the side of the scraper (103) close to the cleaning working surface (300);

The flexible retaining bar (104) is connected to the side of the scraper (103) close to the cleaning operation surface (300), and is arranged in the same direction as the flexible scraper (101), along the direction of the cleaning operation, so The flexible scraper (101) and the flexible retaining strip (104) are arranged in sequence;

Wherein, a water-absorbing cavity (105) is formed between the flexible scraper (101) and the flexible retaining strip (104), and the flexible scraper (101) is formed with a water-absorbing cavity (105) connected to the water-absorbing cavity (105). hole(106).
The sewage recycling system according to claim 16, characterized in that a plurality of juxtaposed protrusions (107) are formed on the side of the flexible scraper (101) close to the flexible retaining bar (104), and two adjacent protrusions (107) are formed in parallel. The water absorption holes (106) are formed between each of the protrusions (107).
The sewage recovery system according to claim 11 or 12, characterized in that when the flexible scraper (101) is in contact with the cleaning working surface (300), the flexible scraper (101) is close to the cleaning surface. There is a pressing length between one end of the working surface (300) and the cleaning working surface (300).
The sewage recovery system according to claim 18, wherein the pressing length is between 1.0 mm and 4.0 mm.
A curtain wall cleaning robot, characterized by including the sewage recovery system according to any one of claims 11 to 19.
A cleaning robot is characterized by including:

Walking body(100);

Cleaning devices (200) are provided at both ends of the walking body (100) along the walking direction;

The cleaning device (200) includes: an installation frame (201) and two sets of scraper assemblies (202). The installation frame (201) is installed on the walking body (100) through a flexible support structure (300). The scraper assembly (202) is swingably disposed on opposite sides of the mounting frame (201) and is adapted to switch between an initial state and a cleaning state,

In the initial state, the two sets of scraper assemblies (202) are lifted to separate from the surface to be cleaned. In the cleaning state, the scraper assembly (202) at the rear side along the walking direction is pressed down to separate from the surface to be cleaned. Wait for the clean surface to fit.
The cleaning robot according to claim 21, characterized in that the flexible support structure (300) includes:

Support frame (301), the support frame (301) is connected to the walking body (100);

Lateral movement components are respectively connected to the installation frame (201) and the support frame (301), and are configured to make the cleaning device (200) move laterally.
The cleaning robot according to claim 22, characterized in that a vertical telescopic component is provided between the support frame (301) and the transverse movement component.
The cleaning robot according to claim 21, characterized in that the cleaning device (200) further includes:

A driving assembly is provided on the mounting frame (201) and is configured to drive the two sets of scraper assemblies (202) to swing.
The cleaning robot according to claim 24, wherein the driving assembly includes:

A driving motor (203) is provided on the mounting bracket (201) and is located between the two sets of scraper assemblies (202);

The steering shaft (204) is drivingly connected to the driving motor (203) and is arranged along the length direction of the mounting frame (201);

The pulling mechanism is drivingly connected to the two sets of scraper assemblies (202) and the steering shaft (204) respectively, and is configured to pull the two sets of scraper assemblies (202) to swing.
The cleaning robot according to claim 21, characterized in that, along the vertical direction from away from to close to the surface to be cleaned, the two scraper assemblies (202) have a gradually expanding structure.
The cleaning robot according to any one of claims 21 to 26, characterized in that the cleaning device (200) further includes a drum assembly, and the drum assembly includes:

The roller (215) is rotatably arranged at the bottom of the mounting frame (201) along the length direction of the mounting frame (201) and is located between the two sets of scraper assemblies (202). The drum (215) ) has brushes (217) distributed on its outer peripheral surface;

The mounting bracket (201) is provided with a connected water chamber and a water outlet (218). The water chamber of the mounting bracket (201) is adapted to pass through the water outlet (218) to the outer circumference of the drum (215). Surface water supply.
The cleaning robot according to claim 27, characterized in that when the roller assembly rotates, it conforms to the scraper assembly (202) that is pressed down in the tangential direction of the surface to be cleaned.
A cleaning device, characterized in that it includes:

Mounting Bracket(100);

Two sets of scraper assemblies (200) are swingably arranged on opposite sides of the mounting frame (100);

The driving assembly (300) includes: a driving motor (301), a steering shaft (302) and a pulling mechanism. The driving motor (301) is arranged on the mounting frame (100), and the steering shaft (302) is connected to the The drive motor (301) is connected in transmission,

The pulling mechanism includes: a steering handle (303) and two sets of connecting rod pairs. The steering handle (303) is provided on the steering shaft (302). The first ends of the two groups of connecting rod pairs are connected to the respective connecting rod pairs. The steering handle (303) is connected to each other, and the second ends of the two sets of connecting rod pairs are respectively connected to the two sets of scraper assemblies (200);

The driving assembly (300) is configured to drive the two sets of scraper assemblies (200) to swing to switch between an initial state and a cleaning state. In the initial state, the two sets of scraper assemblies (200) are lifted. To separate from the surface to be cleaned, in the cleaning state, one set of the scraper assemblies (200) is pressed down to fit the surface to be cleaned.
The cleaning device according to claim 29, characterized in that the pair of connecting rods includes: a first connecting rod (304), a second connecting rod (305) and an elastic member (306), and the two groups of first connecting rods The first ends of the rods (304) are connected to the steering handle (303), the second connecting rod (305) is swingably connected to the scraper assembly (200), and the second connecting rod (305) is swingably connected to the scraper assembly (200). The end of 305) is hinged with the second end of the first connecting rod (304), the elastic member (306) is provided on the side of the second connecting rod (305), and the elastic member (306) Both ends of are pressed against the mounting bracket (100) and the second connecting rod (305) respectively.
The cleaning device according to claim 30, characterized in that the second end of the first connecting rod (304) is provided with a chute (307), and the end of the second connecting rod (305) is provided with a chute (307). The chute (307) matches the connecting column (308).
The cleaning device according to claim 30, characterized in that the first connecting rod (304) is a bent rod, so that the movement process of the first connecting rod (304) and the second connecting rod (305) has a dead center position, and the dead center position is: the connection point between the second connecting rod (305) and the first connecting rod (304), the center point of the steering shaft (302), and the The three connecting points of the steering handle (303) and the first connecting rod (304) are collinear.
The cleaning device according to claim 29, characterized in that the driving assembly (300) further includes:

Two micro switches (310) are provided on the mounting bracket (100) and located on both sides of the steering shaft (302);

A trigger (311), which is provided on the steering shaft (302) and is adapted to contact or separate from the two micro switches (310);

The controller is electrically connected to the drive motor (301) and the two micro switches (310) respectively, and is configured to perform a first-level limit on the swing of the two sets of scraper assemblies (200).
The cleaning device according to claim 33, characterized in that the driving assembly (300) further includes:

Two limit blocks (312) are provided on both sides of the steering handle (303) and are suitable for contacting or separating from the steering handle (303), and are configured to pair two sets of the scraper assembly (200). Swing for secondary limit.
The cleaning device according to any one of claims 29-34, further comprising:

The drum assembly (400) is rotatably provided at the bottom of the mounting frame (100) and is located between the two sets of scraper assemblies (200), and is configured to wash the surface to be cleaned.
The cleaning device according to claim 35, characterized in that the scraper assembly (200) has a water suction chamber, the water suction chamber is provided with a water suction inlet (201) and a water suction outlet (202), the water suction inlet (201 ) towards the drum assembly (400), the water suction outlet (202) is configured to be connected to a suction device.
The cleaning device according to claim 36, further comprising: a water path switching valve (500), including:

The valve housing (501) is arranged on the mounting frame (100), the steering shaft (302) penetrates the valve housing (501), and the water suction outlets (201) of the two sets of scraper assemblies (200) are respectively It is connected to the valve housing (501) via a first waterway, and the valve housing (501) is configured to be connected to the suction device via a second waterway;

Valve core (502), located in the valve housing (501) and connected to the steering shaft (302), in the cleaning state, the valve core (502) is suitable for disconnecting the lifted scraper The component (200) corresponds to the first waterway.
A cleaning robot, characterized by comprising: the cleaning device according to any one of claims 31-37.