阅读说明：本技术 一种壁面清洗机及其应用 (Wall surface cleaning machine and application thereof ) 是由 张凤鸣 张利娟 王可甜 朱丹 涂志 白小青 陈四清 郭宗义 廖琪 杜娟 潘红梅 于 2020-04-10 设计创作，主要内容包括：本发明提供了一种壁面清洗机及其应用,壁面清洗机包括行走机器人、清洗部和控制系统,在行走机器人上设置有调节机构,清洗部连接调节机构,控制系统连接用于控制行走机器人和调节机构按照设定程序动作,通过控制系统和调节机构对清洗部的方向和位置进行调节；调节机构的动作方式包括水平伸缩调节和高度调节,通过水平伸缩调节改变清洗部的水平位置,通过高度调节改变清洗部的高度；该壁面清洗机可以用来清洗粪池壁、粪槽壁、沼气池壁、水泡粪壁或其它类似壁面的清洗。采用本发明壁面清洗机,不仅对人员要求低,而且能够提高清洗效率,降低人员劳动强度；本发明壁面清洗机稳定性好,操作方便,清洗效果好。(The invention provides a wall surface cleaning machine and application thereof, wherein the wall surface cleaning machine comprises a walking robot, a cleaning part and a control system, wherein the walking robot is provided with an adjusting mechanism, the cleaning part is connected with the adjusting mechanism, the control system is connected with the adjusting mechanism and is used for controlling the walking robot and the adjusting mechanism to act according to a set program, and the direction and the position of the cleaning part are adjusted through the control system and the adjusting mechanism; the action modes of the adjusting mechanism comprise horizontal telescopic adjustment and height adjustment, the horizontal position of the cleaning part is changed through the horizontal telescopic adjustment, and the height of the cleaning part is changed through the height adjustment; the wall surface cleaning machine can be used for cleaning the wall of a dung pool, the wall of the dung pool, the wall of a methane pool, the wall of a water-soaked dung or other similar wall surfaces. By adopting the wall surface cleaning machine, the requirement on personnel is low, the cleaning efficiency can be improved, and the labor intensity of the personnel is reduced; the wall surface cleaning machine has the advantages of good stability, convenient operation and good cleaning effect.)

1. A wall surface cleaning machine includes a walking robot (11), a cleaning part, and a control system, characterized in that: the walking robot (11) is provided with an adjusting mechanism, the cleaning part is connected with the adjusting mechanism, the control system is connected with the adjusting mechanism and used for controlling the walking robot (11) and the adjusting mechanism to act according to a set program, and the direction and the position of the cleaning part are adjusted through the control system and the adjusting mechanism; the action mode of the adjusting mechanism comprises horizontal telescopic adjustment and height adjustment, the horizontal position of the cleaning part is changed through the horizontal telescopic adjustment, and the height of the cleaning part is changed through the height adjustment.

2. The wall washer according to claim 1, wherein: the action mode of the adjusting mechanism also comprises deflection adjustment, and the cleaning part is positioned in the horizontal direction, the vertical direction or any direction between the horizontal direction and the vertical direction of the same vertical surface through the deflection adjustment.

3. The wall washer according to claim 3, wherein: a high-pressure spraying system (4) is arranged on a cleaning broom (1) of the cleaning part, and a nozzle of the high-pressure spraying system (4) is opposite to a cleaning wall surface.

4. The wall surface cleaning machine according to any one of claims 1 to 3, wherein: the adjusting mechanism comprises a vertically arranged rod body (15) and an obliquely arranged telescopic adjusting part (10), a telescopic arm (9) is hinged on the rod body (15), one end of the telescopic adjusting part (10) is fixed, and the other end of the telescopic adjusting part (10) is hinged with the telescopic arm (9); a broom position adjusting part (8) is arranged on the outer side of the telescopic adjusting part (10), one end of the broom position adjusting part (8) is hinged with a telescopic arm (9), and the other end of the broom position adjusting part (8) is hinged with a mounting part of the cleaning part; in the adjusting process, the height and the deflection position of the telescopic arm (9) are adjusted through the telescopic adjusting part (10), the height and the deflection position of the cleaning part are adjusted through the broom position adjusting part (8), and the horizontal position of the cleaning part is adjusted through the telescopic arm (9).

5. The wall washer according to claim 4, wherein: the axis of the rod body (15) is taken as a symmetrical central line, and two sets of the telescopic adjusting part (10), the telescopic arm (9), the broom position adjusting part (8) and the cleaning part are respectively and symmetrically arranged; or one side of the rod body (15) is provided with an adjusting mechanism and a cleaning part, and the other side of the rod body (15) is provided with a walking part which can walk along the wall surface; more preferably, the walking part comprises a wheel arm (22) which is vertically arranged, the upper end and the lower end of the wheel arm (22) are respectively provided with a wheel seat (24), the inner side of the wheel seat (24) is connected to the rod body (15), the outer side of the wheel seat (24) is provided with a wheel (23), and the wheel (23) is attached to the wall surface to walk in the cleaning process.

6. The wall washer according to claim 5, wherein: the inclined strut structure is formed by two telescopic adjusting parts (10), a rod body (15) and two telescopic arms (9) together.

7. The wall washer according to claim 6, wherein: the cleaning part comprises two cleaning brooms (1) and a first motor (5) for driving the cleaning brooms (1) to rotate, and the output end of the first motor (5) is connected with the cleaning brooms (1) through a belt wheel transmission structure.

8. The wall washer according to claim 7, wherein: the wall surface cleaning machine further comprises a panoramic camera (14), the panoramic camera (14) is externally connected with a display terminal through a control system and a wireless communication module, and the cleaning condition is displayed in real time through a display terminal.

9. The wall washer according to claim 1, wherein: the adjusting mechanism comprises a vertically arranged rod body (15) and a telescopic adjusting part (10), a horizontally arranged telescopic arm (9) is sleeved on the rod body (15), the upper end of the telescopic adjusting part (10) is connected with the telescopic arm (9), and the lower end of the telescopic adjusting part (10) is connected to the walking robot (11); in the adjusting process, the height of the telescopic arm (9) is adjusted through the telescopic adjusting part (10), and the horizontal position of the cleaning part is adjusted through the telescopic arm (9).

10. Use of a wall washer according to any of claims 1-9 for washing a tank wall or tank wall.

Technical Field

The invention belongs to the field of cleaning equipment, and particularly relates to a wall surface cleaning machine and application thereof.

Background

For washing the walls or walls of the water-soaking manure pit, the septic tank, the methane tank and the like in the farm, the water-soaking manure pit, the septic tank or the methane tank is manually cleaned, and the mode has a plurality of defects: firstly, the labor force is high, and the labor efficiency is low; secondly, most of places needing cleaning are dark and humid, the environment is severe, the air quality is poor, the requirement on the physique of operators is high, in the cleaning process, not only is dirt cleaned easily to contact people, but also toxic and harmful substances (gas, liquid and the like) are easily damaged, and if the harmful gas is not ventilated and exhausted before cleaning, even casualties can be caused; thirdly, the water consumption of manual cleaning is large, the sewage amount in post treatment is large, and the treatment cost is increased; in addition, most of the culture places belong to closed places, so that the requirements on environment and sanitation are high, and the culture places are not suitable for large-scale cleaning machinery operation.

Disclosure of Invention

In view of the problems in the background art, the present invention is directed to a wall surface cleaning machine and its application in cleaning a tank wall or tank wall.

In order to achieve the above purpose, the present invention adopts the following technical solutions.

A wall surface cleaning machine comprises a walking robot, a cleaning part and a control system, wherein an adjusting mechanism is arranged on the walking robot, the cleaning part is connected with the adjusting mechanism, the control system is connected with the adjusting mechanism and used for controlling the walking robot and the adjusting mechanism to act according to a set program, and the direction and the position of the cleaning part are adjusted through the control system and the adjusting mechanism; the action mode of the adjusting mechanism comprises horizontal telescopic adjustment and height adjustment, the horizontal position of the cleaning part is changed through the horizontal telescopic adjustment, and the height of the cleaning part is changed through the height adjustment.

According to a preferable mode of the invention, the action mode of the adjusting mechanism further comprises deflection adjustment, and the cleaning part is positioned in the horizontal direction, the vertical direction or any direction between the horizontal direction and the vertical direction of the same vertical surface through the deflection adjustment.

In order to improve the wall surface cleaning effect, a high-pressure spraying system is arranged on a cleaning broom of the cleaning part, and a nozzle of the high-pressure spraying system is opposite to the cleaning wall surface.

According to one embodiment of the invention, the adjusting mechanism comprises a vertically arranged rod body and an obliquely arranged telescopic adjusting part, a telescopic arm is hinged on the rod body, one end of the telescopic adjusting part is fixed, and the other end of the telescopic adjusting part is hinged with the telescopic arm; the outer side of the telescopic adjusting part is provided with a broom position adjusting part, one end of the broom position adjusting part is hinged with a telescopic arm, and the other end of the broom position adjusting part is hinged with a mounting part of the cleaning part; in the adjusting process, the height and the deflection position of the telescopic arm are adjusted through the telescopic adjusting part, the height and the deflection position of the cleaning part are adjusted through the broom position adjusting part, and the horizontal position of the cleaning part is adjusted through the telescopic arm. Such a structure facilitates the perfect matching of the cleaning part and the cleaning wall surface at different heights.

In order to improve the stability of the wall surface cleaning machine, two sets of the telescopic adjusting parts, the telescopic arms, the broom position adjusting parts and the cleaning parts are respectively and symmetrically arranged by taking the axis of the rod body as a symmetrical central line; or one side of the rod body is provided with the adjusting mechanism and the cleaning part, and the other side of the rod body is provided with the walking part which can walk close to the wall surface. More preferably, the walking part comprises a wheel arm which is vertically arranged, the upper end and the lower end of the wheel arm are respectively provided with a wheel seat, the inner side of the wheel seat is connected to the rod body, the outer side of the wheel seat is provided with wheels, and the wheels lean against the wall surface to walk in the cleaning process. The aforesaid "one side of the body of rod sets up the running part" is equivalent to changing one set of adjustment mechanism and washing part into the running part, mainly is applicable to the condition that the groove width or pond width are less, for example the condition that the groove width or pond width are less than two telescopic boom shortest size.

In order to further improve the stability of the wall surface cleaning machine, the inclined strut structure is formed by the two telescopic adjusting parts, the rod body and the two telescopic arms.

Preferably, the cleaning part comprises two cleaning brooms and a first motor for driving the cleaning brooms to rotate, and the output end of the first motor is connected with the cleaning brooms through a belt wheel transmission structure. Preferably, the belt wheel transmission structure comprises a belt wheel and a belt connected to an output end of the motor, the belt is matched with the belt wheel and the belt disc of the cleaning broom at the same time, the belt wheel is further provided with tooth parts, the tooth parts of the two cleaning brooms are meshed with each other, and when the cleaning broom operates, the tooth parts of the two cleaning brooms rotate oppositely to drive the two cleaning brooms to rotate oppositely.

Furthermore, the wall surface cleaning machine further comprises a panoramic camera, the panoramic camera is externally connected with a display terminal through a control system and a wireless communication module, and the cleaning condition is displayed in real time through a display terminal.

According to another embodiment of the invention, the adjusting mechanism comprises a vertically arranged rod body and a telescopic adjusting part, a horizontally arranged telescopic arm is sleeved on the rod body, the upper end of the telescopic adjusting part is connected with the telescopic arm, and the lower end of the telescopic adjusting part is connected with the walking robot; in the adjusting process, the height of the telescopic arm is adjusted through the telescopic adjusting part, and the horizontal position of the cleaning part is adjusted through the telescopic arm.

The application of the wall surface cleaning machine in cleaning the tank wall or the tank wall can be used for cleaning the excrement tank wall, the methane tank wall, the water-soaked excrement wall or other similar wall surfaces.

Has the advantages that: by adopting the wall surface cleaning machine, the requirement on personnel is low, the cleaning efficiency can be improved, and the labor intensity of the personnel is reduced; the wall surface cleaning machine disclosed by the invention is used for cleaning the walls or the walls of the water-soaking septic tank, the methane tank and the like, personnel do not need to enter the pool or the tank with the characteristics of darkness, dampness, severe environment and poor air quality, the harm of toxic and harmful substances (gas, liquid and the like) to operators can be avoided, and the wall surface cleaning machine is particularly suitable for cleaning the walls, the walls and the grooves of the excrement tank, which are limited by human bodies (difficult to enter/cannot enter and are difficult to operate); the wall surface cleaning machine has the advantages of good stability, convenient operation and good cleaning effect.

Drawings

FIG. 1 is a schematic front view of a wall surface cleaning machine according to embodiment 1;

FIG. 2 is a schematic top view of the wall washer of example 1;

FIG. 3 is a schematic side view of the wall washer of example 1;

FIG. 4 is a schematic front view of a wall surface cleaning machine according to embodiment 2;

FIG. 5 is a schematic view of the wall surface cleaning machine of embodiment 3.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings and embodiments, which are only a part of the embodiments of the present invention, but not all of them. In the description of the present invention, it is to be noted that the terms "upper", "lower", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or component must have a specific orientation, be constructed in a specific orientation, and be operated, and should not be construed as limiting the present invention.

Example 1

A wall surface cleaning machine, as shown in figure 1, figure 2 and figure 3, it includes walking robot 11, cleaning part and control system, there are regulating mechanisms on walking robot 11, the cleaning part connects the regulating mechanism, the control system is connected and used for controlling walking robot 11 and regulating mechanism to act according to the set program, regulate direction and coordinate of the cleaning part through control system and regulating mechanism; the action mode of the adjusting mechanism comprises horizontal telescopic adjustment and height adjustment, the horizontal position of the cleaning part is changed through the horizontal telescopic adjustment, and the height of the cleaning part is changed through the height adjustment. The action mode of the adjusting mechanism further comprises deflection adjustment, and the cleaning part is positioned in the horizontal direction, the vertical direction or any direction between the horizontal direction and the vertical direction of the same vertical surface through the deflection adjustment. When the cleaning broom is used, when the cleaning broom of the cleaning part deflects to be vertical to and contacted with the side wall, the side wall can be cleaned; when the cleaning broom of the cleaning part deflects to be vertically upward and contacts with the top wall, the top wall can be cleaned; when the cleaning broom of the cleaning part deflects to vertically downwards and contacts with the bottom wall, the bottom wall can be cleaned.

In this embodiment, the high-pressure shower system 4 is disposed in the cleaning broom 1 of the cleaning unit, the nozzle of the high-pressure shower system 4 faces the cleaning wall surface, and the high-pressure shower system 4 is pressurized by the pump 12 provided in the robot 11. The water of the high-pressure spraying system 4 can adopt an external water supply source and can also recycle the water in a cleaning pool or a cleaning tank.

In this embodiment, the adjusting mechanism includes a vertically arranged rod body 15 and an obliquely arranged telescopic adjusting portion 10, the rod body 15 is hinged with a telescopic arm 9, one end of the telescopic adjusting portion 10 is fixed, and the other end of the telescopic adjusting portion 10 is hinged with the telescopic arm 9; a broom position adjusting part 8 is arranged on the outer side of the telescopic adjusting part 10, one end of the broom position adjusting part 8 is hinged with a telescopic arm 9, and the other end of the broom position adjusting part 8 is hinged with a mounting part of the cleaning part; in the adjusting process, the height and the deflection position of the telescopic arm 9 are adjusted through the telescopic adjusting part 10, the height and the deflection position of the cleaning part are adjusted through the broom position adjusting part 8, and the horizontal position of the cleaning part is adjusted through the telescopic arm 9. The telescopic arm 9, the broom position adjusting part 8 and the telescopic adjusting part 10 can all directly adopt the air cylinder to realize the telescopic function, the telescopic rod of the telescopic adjusting part 10 is arranged obliquely upwards, and the telescopic rod of the broom position adjusting part 8 is arranged obliquely downwards.

In this embodiment, as shown in fig. 1, two sets of the telescopic adjusting portion 10, the telescopic arm 9, the broom position adjusting portion 8, and the cleaning portion are symmetrically disposed with the axis of the rod body 15 as a symmetric center line, and the two telescopic adjusting portions 10, the rod body 15, and the two telescopic arms 9 together form a diagonal bracing structure.

In this embodiment, as shown in fig. 3, the cleaning part includes two cleaning brooms 1 and a first motor 5 for driving the cleaning brooms 1 to rotate, an output end of the first motor 5 is connected with the cleaning brooms 1 through a belt wheel transmission structure, the two cleaning brooms 1 are connected through a table wall 3, a connecting rod 31 is arranged on the table wall 3, a rotatable belt reel 32 is arranged on the connecting rod 31, and the cleaning brooms 1 are fixed on the belt reel 32 and can rotate along with the belt reel 32. The belt wheel transmission structure comprises a belt wheel 6 and a belt 2 which are connected to the output end of a motor I5, the belt 2 is matched with the belt wheel 6 and a belt disc 32 of the cleaning broom 1 at the same time, the belt wheel 6 is also provided with tooth parts, and the tooth parts of the two cleaning brooms 1 are meshed with each other, so that the two cleaning brooms 1 can be driven to rotate by one motor I5.

In this embodiment, the table wall 3 is hinged to the telescopic arm 9 through a cross rod assembly 33, the shock absorber 7 is disposed on the cross rod assembly 33 of the table wall 3, and the adjusting rod (telescopic rod) of the broom position adjusting part 8 is connected to the cross rod assembly 33 through a connecting rod 34.

In this embodiment, the wall surface cleaning machine still includes panoramic camera 14, and panoramic camera 14 installs on the apron 21 at the body of rod 15 top, and panoramic camera 14 passes through the external display terminal of wireless communication module, and the image that panoramic camera 14 gathered transmits to display terminal after the treater is handled to show the cleaning situation in real time through the display terminal.

In the present embodiment, the main components of the control system are mounted on the controller 19, the controller 19 is mounted on the walking robot 11, and the electric control box 12 of the control system is also mounted on the walking robot 11.

When the cleaning brush is used, the wall surface cleaning machine is placed in the excrement tank, the telescopic arm 9 is adjusted according to the width of the excrement tank (the width between two wall surfaces of the excrement tank), the cleaning brush 1 is enabled to be in contact with the two wall surfaces of the excrement tank, after the motor I5 and the high-pressure spraying system 4 are started, the motor I5 drives the cleaning brush 1 to rotate through the wheel belt transmission structure to achieve scrubbing of the wall surfaces, meanwhile, the high-pressure spraying system 4 sprays water to the wall surfaces through the nozzles to achieve washing of the wall surfaces, and the wall surfaces in contact with the cleaning brush 1 can be cleaned along with movement of the walking robot 11; when the walking robot 11 walks from the head of the excrement tank to the tail of the excrement tank, the control system drives the telescopic adjusting part 10 to act so as to enable the telescopic arm 9 to deflect upwards in an inclined mode, and simultaneously drives the broom position adjusting part 8 to act so as to enable the cleaning part to deflect downwards in an inclined mode until the cleaning broom 1 is in contact with the wall surface (the process is that the height of the cleaning broom 1 is adjusted through mutual matching of the upper deviation of the telescopic arm 9 and the lower deviation of the cleaning part, and the cleaning broom 1 is ensured to be in a vertical state and to be in contact with the wall surface), and then the walking robot 11 walks from the tail of the excrement tank to the head of the excrement tank to clean the wall surface; and when the wall surface at the same height is cleaned, continuously adjusting the height of the cleaning broom 1 until the cleaning of the excrement tank is finished. In the whole cleaning process, the first-stage walking is used for cleaning the wall surface with the height of A to B meters, the second-stage walking is used for cleaning the wall surface with the height of B to C meters, and the height difference between A to B, B to C meters is basically equal to the diameter of two cleaning brooms 1.

The wall surface cleaning machine in the embodiment can be used for cleaning the dung pool wall, the dung pool wall and the methane pool wall with the baffle or the grid plate at the top, and can also be used for cleaning the dung pool wall, the dung pool wall and the methane pool wall which are open (after the cover is uncovered).

Example 2

A wall surface cleaning machine, as shown in figure 4, it includes walking robot 11, cleaning department and control system, there are regulating mechanisms on walking robot 11, the cleaning department connects the regulating mechanism, the control system is connected and used for controlling walking robot 11 and regulating mechanism to act according to the set program, regulate direction and coordinate of the cleaning department through control system and regulating mechanism; the action mode of the adjusting mechanism comprises horizontal telescopic adjustment and height adjustment, the horizontal position of the cleaning part is changed through the horizontal telescopic adjustment, and the height of the cleaning part is changed through the height adjustment. The action mode of the adjusting mechanism further comprises deflection adjustment, and the cleaning part is positioned in the horizontal direction, the vertical direction or any direction between the horizontal direction and the vertical direction of the same vertical surface through the deflection adjustment.

In this embodiment, the high-pressure shower system 4 is disposed in the cleaning broom 1 of the cleaning unit, the nozzle of the high-pressure shower system 4 faces the cleaning wall surface, and the high-pressure shower system 4 is pressurized by the pump 12 provided in the robot 11. The water of the high-pressure spraying system 4 can adopt an external water supply source and can also recycle the water in a cleaning pool or a cleaning tank.

In this embodiment, the adjusting mechanism includes a vertically arranged rod body 15 and a telescopic adjusting part 10, a horizontally arranged telescopic arm 9 is sleeved on the rod body 15, the upper end of the telescopic adjusting part 10 is connected with the telescopic arm 9, and the lower end of the telescopic adjusting part 10 is connected to the walking robot 11; in the adjusting process, the height of the telescopic arm 9 is adjusted through the telescopic adjusting part 10, and the horizontal position of the cleaning part is adjusted through the telescopic arm 9. Wherein, the telescopic arm 9, the broom position adjusting part 8 and the telescopic adjusting part 10 can all adopt the cylinder to realize the telescopic function; the height of the rod body 15 is not less than the height of the wall surface.

In this embodiment, two sets of the telescopic adjusting portion 10, the telescopic arm 9, the broom position adjusting portion 8, and the cleaning portion are symmetrically disposed with the axis of the rod body 15 as a symmetric center line, and the two telescopic adjusting portions 10, the rod body 15, and the two telescopic arms 9 together form a diagonal bracing structure.

In this embodiment, the specific structure and connection relationship of the cleaning section and the telescopic arm 9 are the same as those of embodiment 1.

In this embodiment, the wall surface cleaning machine still includes panoramic camera 14, and panoramic camera 14 installs on the apron 21 at the body of rod 15 top, and panoramic camera 14 passes through the external display terminal of wireless communication module, and the image that panoramic camera 14 gathered transmits to display terminal after the treater is handled to show the cleaning situation in real time through the display terminal.

In the present embodiment, the main components of the control system are mounted on the controller 19, the controller 19 is mounted on the walking robot 11, and the electric control box 12 of the control system is also mounted on the walking robot 11.

When the wall cleaning machine is used, the wall cleaning machine is placed in a septic tank or an open excrement groove, the telescopic arm 9 is adjusted according to the width of the septic tank or the open excrement groove, the cleaning broom 1 is enabled to be in contact with two walls of the excrement groove, after the motor I5 and the high-pressure spraying system 4 are started, the motor I5 drives the cleaning broom 1 to rotate through a wheel belt transmission structure to clean the walls, meanwhile, the high-pressure spraying system 4 sprays water to the walls through nozzles to wash the walls, and the walls in contact with the cleaning broom 1 can be cleaned along with the movement of the walking robot 11; when the walking robot 11 walks from the head side to the tail side, the control system drives the telescopic adjustment part 10 to act to lift the telescopic arm 9 upward until the cleaning broom 1 contacts the non-wall surface (this process is substantially to adjust the height of the cleaning broom 1 by extending the telescopic arm 9 upward), and then the walking robot 11 walks from the tail side to the head side to clean the wall surface; and when the wall surface at the same height is cleaned, continuously adjusting the height of the cleaning broom 1 until the septic tank or the open septic tank is cleaned.

The wall surface cleaning machine in the embodiment is mainly used for cleaning the excrement tank wall, the excrement tank wall and the methane tank wall which are open (after the cover is uncovered).

Example 3

A wall surface cleaning machine, referring to embodiment 1 and shown in fig. 5, which is different from embodiment 1 in that: wherein one side of the rod body 15 sets up adjustment mechanism and washing portion, and the other side of the rod body 15 sets up the walking portion that can paste the wall and walk, and this walking portion includes vertical wheel arm 22 of arranging, and wheel arm 22 is provided with wheel seat 24 from top to bottom both ends respectively, and wheel seat 24 inboard is connected on the rod body 15, and the wheel seat 24 outside is provided with wheel 23, and in the cleaning process, wheel 23 pastes and pastes the wall (washs the just offside wall of wall) and walks.

This embodiment is substantially equivalent to the embodiment 1 in which the set of adjustment mechanism and cleaning section is replaced by a traveling section, and is mainly suitable for the case where the tank width or pool width is small, for example, the tank width or pool width is smaller than the shortest dimension of the two telescopic arms, and the stability during cleaning can be improved by the wheels 23 abutting against the wall surface.

The wall surface cleaning machine in the foregoing embodiment may be used for cleaning the dung pool wall, the biogas pool wall, the water soaking dung wall or other similar wall surfaces, and is particularly suitable for cleaning the dung pool wall, the biogas pool wall and the groove which are limited to the human body, such as the dung pool wall, the biogas pool wall and the groove which are not easy to enter by the operator, not easy to operate by the operator or even not easy to operate by the operator.