CN107640238B - Cleaning robot - Google Patents
Cleaning robot Download PDFInfo
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- CN107640238B CN107640238B CN201710981179.7A CN201710981179A CN107640238B CN 107640238 B CN107640238 B CN 107640238B CN 201710981179 A CN201710981179 A CN 201710981179A CN 107640238 B CN107640238 B CN 107640238B
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- driven wheel
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- frame
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- 238000004140 cleaning Methods 0.000 title claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 5
- 239000000428 dust Substances 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses a cleaning robot, which comprises a vehicle body, a power system, a shell, a power system mounting frame and a cleaning robot, wherein the power system mounting frame comprises a first frame body and a second frame body; the corresponding parts of the front sides of the first frame body and the second frame body are provided with driving wheel shaft holes; driven wheel shaft holes are formed in the positions corresponding to the rear sides of the first frame body and the second frame body; the power system comprises a driving wheel shaft, a driving wheel, a driven wheel shaft, a driven wheel and a crawler belt, and the outside of annular side walls of the driving wheel and the driven wheel on the same side of the vehicle body is annularly coated; the shell is covered on the vehicle body, the shell comprises a first shell and a second shell, the second shell is detachably assembled on the first shell, and the position of the second shell corresponds to the second frame.
Description
Technical Field
The invention relates to the field of outdoor cleaning robots and the like, in particular to a cleaning robot which can be used for cleaning a solar panel.
Background
With the ever decreasing number of fossil fuels, solar energy, an emerging renewable energy source, has become an important component of energy for human use, and solar energy application technology has evolved rapidly throughout the world in the last decade. A solar panel refers to a device that directly converts solar energy into electric energy using a photovoltaic effect (photovoltaic) that occurs under light conditions of semiconductor materials. Since solar power generation is possible in a place where sunlight is present, solar panels have been rapidly developed in recent years, and are suitable for various applications ranging from large power stations to small portable chargers.
The working environment of the solar panel can only be outdoors, and the biggest problem affecting the work of the solar panel is not wind, rain and lightning, but dust accumulated throughout the year. Dust or other attachments are attached to the solar panel, so that the light transmittance of the panel board can be influenced, the photoelectric efficiency is hindered, the efficiency of directly obtaining sunlight by the panel can be seriously influenced, the energy absorption and conversion efficiency of the panel are reduced, and the power generation efficiency is reduced. The solar panel in the prior art can only rely on manual work to finish cleaning work regularly in use, and dust can be accumulated repeatedly due to the large area of the solar panel and the large number of panels used in a large power station at the same time, so that repeated cleaning is needed; therefore, the labor cost is very high, the cleaning efficiency is low, and the cleaning effect is poor. In many occasions, in order to improve the space utilization rate, the solar panels are arranged at high positions by using the brackets, so that greater difficulty and risk are brought to cleaning work. Many users of solar panels are only forced to bear the electrical energy loss caused by dust, as they can choose not to clean in order to reduce the cleaning cost. Thus, a new automatic cleaning device is needed to automatically clean the solar panel.
The solar panel cleaning robot can automatically travel on the inclined solar panel, and the cleaning of the panel can be realized during the traveling. Because solar panels are generally smooth and have a certain inclination angle, the cleaning robot needs to install a track at the wheel, however, after the cleaning robot works for a period of time, the track is severely worn, the friction coefficient is reduced, and when the cleaning robot runs on the inclined solar panels, a slipping phenomenon can occur. Therefore, in order to ensure the working efficiency and the working safety of the cleaning robot, the crawler belt needs to be replaced on schedule. In order to prevent garbage, dust, rainwater and the like from entering the interior of the cleaning robot when the cleaning robot works, the outer shell structure of the cleaning robot is generally coated on the outer surface of the vehicle body in a larger range so as to play a role in protection. However, if the crawler belt needs to be replaced, the whole shell needs to be removed, the crawler belt can be replaced after a large number of parts are disassembled, the shell structure is troublesome to disassemble and assemble, and the crawler belt replacement efficiency is low. Therefore, it is necessary to provide a new cleaning robot to solve the problem.
Disclosure of Invention
The purpose of the invention is that: the cleaning robot is used for solving the technical problems of troublesome disassembly and assembly and low track replacement efficiency in the track replacement process in the prior art.
The technical scheme for achieving the purpose is as follows: the cleaning robot comprises a vehicle body, a power system, a shell, a power system installation frame and a cleaning system, wherein the power system installation frame comprises a first frame body which is fixed on the left side edge or the right side edge of the upper surface of the vehicle body along the front-back direction; the second frame body is detachably assembled on the first frame body and is positioned on the outer side of the first frame body; the corresponding parts of the front sides of the first frame body and the second frame body are provided with driving wheel shaft holes; driven wheel shaft holes are formed in the positions corresponding to the rear sides of the first frame body and the second frame body; the power system comprises a driving wheel shaft, and two ends of the driving wheel shaft are respectively assembled in the driving wheel shaft holes of the first frame body and the second frame body; the main driving wheel is fixed on the driving wheel shaft; the two ends of the driven wheel shaft are respectively assembled in the driven wheel shaft holes of the first frame body and the second frame body; the driven wheel is fixed on the driven wheel shaft; the crawler belt is annularly coated outside the annular side walls of the main driving wheel and the driven wheel on the same side of the vehicle body; the shell is covered on the vehicle body, the shell comprises a first shell and a second shell, the second shell is detachably assembled on the first shell, and the position of the second shell corresponds to the second frame.
In a preferred embodiment of the present invention, the first frame includes a first plate body fixed to a left side or a right side of the vehicle body in a front-rear direction of the vehicle body; the lower edge of the second plate body is vertically connected with the first plate body; one side edge of the third plate body is vertically connected with the upper edge of the second plate body, and the third plate body extends to the outer side of the vehicle body; the upper side edge of the fourth plate body is vertically connected with the other side edge of the third plate body; the second frame body comprises a fifth plate body which is parallel to the second plate body; the driving wheel shaft holes are correspondingly formed in the front sides of the second plate body and the fifth plate body; the driven wheel shaft holes are correspondingly arranged on the rear sides of the second plate body and the fifth plate body.
In a preferred embodiment of the present invention, the outer side surface of the fourth plate body is provided with a clamping groove, and the clamping grooves are distributed along the front-rear direction of the fourth plate body; the upper side of the inner side surface of the fifth plate body is provided with a clamping strip, and when the second frame body is arranged on the first frame body, the clamping strip is clamped in the clamping groove.
In a preferred embodiment of the present invention, the second frame further includes a supporting shaft, and one end of the supporting shaft is vertically fixed to the second plate; the fifth plate body is provided with a supporting shaft mounting hole, and the other end of the supporting shaft is detachably fixed in the supporting shaft mounting hole.
In a preferred embodiment of the present invention, the main driving wheel includes a driving wheel hub, a driving shaft connecting hole is formed in the center of the driving wheel hub, and the driving wheel hub is fixed to the driving wheel shaft through the driving shaft connecting hole; a transmission mechanism fixed to a driving shaft extending from a driving shaft hole of the first frame body; and the shaft of the driving motor is fixed on the transmission mechanism.
In a preferred embodiment of the present invention, the driven wheel includes a driven wheel hub, a driven shaft connecting hole is provided at the center thereof, and the driven wheel hub is fixed to the driven wheel shaft through the driven wheel connecting hole.
In a preferred embodiment of the invention, the driving wheel hub or/and the driven wheel hub is/are provided with a detachable retainer ring, and the detachable retainer ring and the annular side wall of the driving wheel hub or/and the driven wheel hub form a limit groove for limiting the crawler belt.
In a preferred embodiment of the present invention, the driving wheel and the driven wheel each include a wheel body mounting seat, and a shaft mounting hole and a bearing hole groove corresponding to the driving shaft connecting hole or the driven shaft connecting hole are formed in the center of the wheel body mounting seat, and the wheel body mounting seats are detachably fixed on the first frame body and the second frame body respectively; and the bearing is sleeved on the driving wheel shaft and the driven wheel shaft and is positioned in the bearing hole groove.
In a preferred embodiment of the invention, the bearing aperture includes a first aperture adjacent the drive or driven wheel; and the bottom surface of the first hole groove is connected with the second hole groove.
In a preferred embodiment of the present invention, the bearing comprises a planar bearing positioned in the first bore groove; and the rolling bearing is positioned in the second hole groove.
The invention has the advantages that: according to the cleaning robot, the shell is designed to be of a detachable structure at a specific position, so that the shell can be detached timely and effectively; the driven wheel can be conveniently detached from the vehicle body through the matching assembly of the power system mounting frame, the shell and the power system, so that the caterpillar band can be conveniently replaced; or the second frame body part is directly detached without detaching the driven wheel, and the crawler belt is directly peeled off from the main driving wheel and the driven wheel, thereby facilitating the replacement of the crawler belt and improving the efficiency of the replacement of the crawler belt.
Drawings
The invention is further explained below with reference to the drawings and examples.
Fig. 1 is a perspective view of an outboard side of a powertrain architecture.
Fig. 2 is a perspective view of an inside face view of a powertrain architecture.
Fig. 3 is a cross-sectional view of the powertrain along a plane in which the center lines of the driving and driven axles lie.
Fig. 4 is a perspective view of a power system mount.
Fig. 5 is a perspective view of the first frame body.
Fig. 6 is a perspective view of the second frame body.
FIG. 7 is a schematic illustration of a power system and a power system mount in a broken away form.
FIG. 8 is a schematic illustration of a power system and power system mount in a split view.
Wherein,
11 a first frame body; 12 a second frame; 13 supporting the shaft; 14, a driving wheel shaft hole; 15, a driven wheel shaft hole;
111 a first plate body; 112 a second plate; 113 a third plate body; 114 a fourth plate; 1141 a slot;
121 a fifth plate body; 1211 a clip strip;
21 a driving wheel axle; 221 drive wheel hubs; 222 transmission mechanism;
23 driven wheel shafts; 241 driven wheel hub;
3, a crawler belt;
4, a wheel body mounting seat; 41 shaft mounting holes;
a 51 plane bearing; 52 rolling bearings;
and 6, a detachable retainer ring.
Detailed Description
The following description of the embodiments refers to the accompanying drawings, which illustrate specific embodiments in which the invention may be practiced. The directional terms referred to in the present invention, such as "up", "down", "front", "back", "left", "right", "top", "bottom", etc., refer only to the directions of the attached drawings. Accordingly, directional terminology is used to describe and understand the invention and is not limiting of the invention.
The inner side according to the following embodiment of the present invention is the inner side with respect to the vehicle body, that is, the outer side in the direction approaching the center of the vehicle body and the direction separating from the center of the vehicle body. The vehicle body advancing direction is the front side, and the vehicle body retreating direction is the rear side.
In one embodiment, a cleaning robot includes a vehicle body, a power system mount, and a housing (not shown).
In this embodiment, as shown in fig. 4, the power system mounting frame includes a first frame 11, a second frame 12, and a support shaft 13. Wherein the first frame 11 is fixed to the left side or the right side of the upper surface of the vehicle body in the front-rear direction; the second frame 12 is detachably assembled to the first frame 11 and is located outside the first frame 11.
As shown in fig. 5, the first frame 11 is an integrally formed structure, and the first frame 11 includes a first plate 111, a second plate 112, a third plate 113, and a fourth plate 114. The first plate 111 is provided with a fixing hole and is fixed on the upper surface of the vehicle body through a screw or a bolt; the lower edge of the second plate 112 is vertically connected to the first plate 111, a driving wheel shaft hole 14 is formed in the front side of the second plate 112, a driven wheel shaft hole 15 is formed in the rear side of the second plate 112, and a plurality of support shaft 13 mounting holes are formed in the middle of the second plate 112; the inner side edge of the third plate 113 is vertically connected to the upper edge of the second plate 112; the upper edge of the fourth plate 114 is vertically connected to the outer side of the third plate 113. The outer side surface of the fourth plate 114 is provided with a slot 1141 and a screw hole, and the slot 1141 is disposed along the front-back direction of the fourth plate 114.
As shown in fig. 6, the second frame 12 includes a fifth plate 121, the upper side of the inner surface of the fifth plate 121 is provided with a clamping strip 1211, a screw hole and a mounting hole of the support shaft 13, the mounting hole of the support shaft 13 of the fifth plate 121 corresponds to the mounting hole of the support shaft 13 of the second plate 112, and the screw hole of the fifth plate 121 corresponds to the screw hole of the fourth plate 114. The two ends of the supporting shaft 13 are provided with internal threaded holes, and when the first frame 11 is mounted on the second frame 12, the clamping strips 1211 of the fifth plate 121 are clamped in the clamping grooves 1141 of the fourth plate 114. In this embodiment, two card slots 1141 and two card bars 1211 are provided correspondingly, so that the connection of the clamping parts is firmer. The fifth plate 121 is further fixed to the fourth plate 114 by screw holes and screws, and is supported to the second plate 112 by the support shaft 13, and two ends of the support shaft 13 are respectively fixed by screws or bolts, which are fixed in the mounting holes and the internal screw holes of the support shaft 13. In order to unify the component structure, the production is convenient, in this embodiment, the supporting shaft 13 mounting hole with the screw hole all size is unanimous, and all adopts the screw fixation. In this embodiment, the fifth plate 121 is further provided with a driving wheel shaft hole 14 and a driven wheel shaft hole 15, and the position of the driving wheel shaft hole 14 of the fifth plate 121 corresponds to the driving wheel shaft hole 14 of the second plate 112; the driven wheel shaft hole 15 of the fifth plate 121 corresponds in position to the driven wheel shaft hole 15 of the second plate 112.
As shown in fig. 1 to 3, in the present embodiment, the power system includes a driving wheel shaft 21 and a main driving wheel. Specifically, two ends of the driving axle 21 are respectively assembled in the driving axle holes 14 of the first frame 11 and the second frame 12; the main driving wheel comprises a driving wheel hub 221, a transmission mechanism 222 and a driving motor (not shown), wherein a driving shaft connecting hole is formed in the center of the driving wheel hub 221, the outer peripheral surface of the driving wheel hub 221 is an annular side wall, and the driving wheel hub 221 is assembled at a corresponding position of the driving wheel shaft 21 between the first frame 11 and the second frame 12 through the driving shaft connecting hole. The transmission mechanism 222 is connected and fixed to one end of the driving shaft extending from the driving shaft hole 14 of the first frame 11. The shaft of the drive motor is fixed to the transmission 222.
In this embodiment, the power system includes a driven wheel shaft 23 and a driven wheel. Specifically, the two ends of the driven wheel shaft 23 are respectively assembled in the driven wheel shaft holes 15 of the first frame 11 and the second frame 12. The driven wheel comprises a driven wheel hub 241, a driven shaft connecting hole is formed in the center of the driven wheel hub 241, and the outer peripheral surface of the driven wheel hub 241 is an annular side wall. The driven wheel hub 241 is fixed to a corresponding portion of the driven wheel shaft 23 between the first frame 11 and the second frame 12 through a driven shaft coupling hole.
In this embodiment, the main driving wheel and the driven wheel are both provided with a wheel body mounting seat 4 and a bearing. The wheel body mounting seats 4 are respectively fixed on the first frame 11 and the second frame 12, wherein the positions of the wheel body mounting seats 4 of the main driving wheels respectively correspond to the driving wheel shaft holes 14; the positions of the wheel body mounting seats 4 of the driven wheels correspond to the driving wheel shaft connecting holes respectively. The outer side surfaces of the wheel body mounting seats 4 are respectively provided with screw holes, the corresponding first frame body 11 and second frame body 12 are also provided with screw holes, and the wheel body mounting seats 4 are fixed on the first frame body 11 or the second frame body 12 through screws. The center of each wheel body mounting seat 4 is provided with a shaft mounting hole 41 and a bearing hole groove, the driving wheel shaft 21 or the driven wheel shaft 23 passes through the shaft mounting hole 41, and the bearing is sleeved on the driving wheel shaft 21 and the driven wheel shaft 23 and is positioned in the bearing hole groove. The bearing hole groove comprises a first hole groove and a second hole groove, and the first hole groove is adjacent to the driving wheel or the driven wheel; the bottom surface of the first hole groove is connected with the second hole groove. The bearing comprises a plane bearing 51 and a rolling bearing 52, wherein the plane bearing 51 is positioned in the first hole groove; the rolling bearing 52 is located in the second bore groove.
In this embodiment, the power system includes a track 3, where the track 3 is annularly wrapped around the annular sidewalls of the driving wheel and the driven wheel on the same side of the vehicle body.
In this embodiment, the casing includes a first casing and a second casing, and the second casing is detachably assembled in the first casing, and in this embodiment, the casing may be fixed by a screw, that is, a screw hole may be formed at a connection position between the first casing and the second casing. The second housing position corresponds to the fifth plate 121 position of the second frame 12. The first shell is fixed on the vehicle body and covers the periphery of the whole vehicle body.
Referring to fig. 7, in the actual replacement of the crawler belt 3, the driving wheel hub 221 is not detachable from the first frame 11 because the driving wheel shaft 21 and the motor shaft are fixedly connected through the transmission mechanism 222 without detaching the first housing. Therefore, only the second housing is removed from the first housing, and then the fifth plate 121 is removed from the first frame 11, and the wheel mount is removed from the fifth plate 121 without being removed from the fifth plate 121. At this time, the driven wheel shaft 23, the driven wheel hub 241 and the bearing are detachable, removed from the whole vehicle body, and the crawler belt 3 is removed together with the driven wheel hub 241. The track 3 can then be removed from the whole vehicle body. After the crawler belt 3 is replaced, the driven wheel shaft 23, the driven wheel hub 241, the bearing, the fifth plate 121, and the second housing may be sequentially installed according to the installation steps.
In this embodiment, referring to fig. 8, the driven wheel shaft 23, the driven wheel hub 241 and the bearing may not be disassembled, and the crawler belt 3 may be peeled off after being translated from the driven wheel hub 241 and the driving wheel hub 221.
In order to increase the stability of the track 3 during running, in this embodiment, the driving wheel hub 221 or/and the driven wheel hub 241 is provided with a detachable retainer ring 6, and the detachable retainer ring 6 and the annular side wall of the driving wheel hub 221 or/and the driven wheel hub 241 form a limit groove for limiting the track 3. The detachable retainer ring 6 is provided with a screw hole, and the corresponding part of the rim of the driving wheel hub 221 or/and the driven wheel hub 241 is also provided with a screw hole, and the detachable retainer ring 6 is fixed with the driving wheel hub 221 or/and the driven wheel hub 241 through a screw.
In this embodiment, as shown in fig. 8, the driven wheel shaft 23, the driven wheel hub 241 and the bearing may not be disassembled, and the detachable retainer ring 6 may be detached from the driven wheel hub 241 and the track 3 may be peeled off after being translated from the driven wheel hub 241 and the driving wheel hub 221.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. The cleaning robot comprises a vehicle body, a power system and a shell, and is characterized by also comprising
A power system mount comprising
The first frame body is fixed on the left side edge or the right side edge of the upper surface of the vehicle body along the front-back direction; and
the second frame body is detachably assembled on the first frame body and is positioned at the outer side of the first frame body;
the corresponding parts of the front sides of the first frame body and the second frame body are provided with driving wheel shaft holes;
driven wheel shaft holes are formed in the positions corresponding to the rear sides of the first frame body and the second frame body;
the power system comprises
The two ends of the driving wheel shaft are respectively assembled in the driving wheel shaft holes of the first frame body and the second frame body;
the main driving wheel is fixed on the driving wheel shaft;
the two ends of the driven wheel shaft are respectively assembled in the driven wheel shaft holes of the first frame body and the second frame body;
the driven wheel is fixed on the driven wheel shaft; and
the caterpillar band is annularly coated outside the annular side walls of the main driving wheel and the driven wheel on the same side of the vehicle body;
the shell is covered on the vehicle body and comprises a first shell and a second shell, the second shell is detachably assembled on the first shell, and the position of the second shell corresponds to the second frame;
the first frame body comprises
The first plate body is fixed on the left side edge or the right side edge of the vehicle body along the front-back direction of the vehicle body;
the lower edge of the second plate body is vertically connected with the first plate body;
one side edge of the third plate body is vertically connected with the upper edge of the second plate body, and the third plate body extends to the outer side of the vehicle body; and
the upper side edge of the fourth plate body is vertically connected with the other side edge of the third plate body;
the second frame body comprises a fifth plate body which is parallel to the second plate body;
the driving wheel shaft holes are correspondingly formed in the front sides of the second plate body and the fifth plate body; the driven wheel shaft holes are correspondingly arranged on the rear sides of the second plate body and the fifth plate body.
2. The cleaning robot according to claim 1, wherein the outer side surface of the fourth plate body is provided with a clamping groove, which is distributed along the front-rear direction of the fourth plate body; the upper side of the inner side surface of the fifth plate body is provided with a clamping strip, and when the second frame body is arranged on the first frame body, the clamping strip is clamped in the clamping groove.
3. The cleaning robot of claim 2, wherein the second frame further comprises
One end of the supporting shaft is vertically fixed on the second plate body; the fifth plate body is provided with a supporting shaft mounting hole, and the other end of the supporting shaft is detachably fixed in the supporting shaft mounting hole.
4. The cleaning robot of claim 1, wherein the main drive wheel comprises
A driving shaft connecting hole is formed in the center of the driving wheel hub, and the driving wheel hub is fixed to the driving wheel shaft through the driving shaft connecting hole;
a transmission mechanism fixed to a driving shaft extending from a driving shaft hole of the first frame body; and
and the shaft of the driving motor is fixed on the transmission mechanism.
5. The cleaning robot of claim 4, wherein the driven wheel comprises
The center of the driven wheel hub is provided with a driven shaft connecting hole, and the driven wheel hub is fixed on the driven wheel shaft through the driven wheel connecting hole.
6. The cleaning robot according to claim 5, wherein the driving wheel hub or/and the driven wheel hub is provided with a detachable retainer ring, and the detachable retainer ring and the annular side wall of the driving wheel hub or/and the driven wheel hub form a limit groove for limiting the crawler belt.
7. The cleaning robot of claim 5, wherein the drive wheel and the driven wheel each comprise
The center of the wheel body mounting seat is provided with a shaft mounting hole and a bearing hole groove corresponding to the driving shaft connecting hole or the driven shaft connecting hole, and the wheel body mounting seat is respectively and detachably fixed on the first frame body and the second frame body; and
and the bearing is sleeved on the driving wheel shaft and the driven wheel shaft and is positioned in the bearing hole groove.
8. The cleaning robot of claim 7, wherein the bearing aperture slot comprises
A first aperture adjacent the drive or driven wheel; and
and the bottom surface of the first hole groove is connected with the second hole groove.
9. The cleaning robot of claim 8, wherein the bearing comprises
A planar bearing positioned in the first bore slot; and
and the rolling bearing is positioned in the second hole groove.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710981179.7A CN107640238B (en) | 2017-10-20 | 2017-10-20 | Cleaning robot |
| PCT/CN2018/081989 WO2019076003A1 (en) | 2017-10-20 | 2018-04-04 | Robot cleaner |
| JP2019558531A JP6830282B2 (en) | 2017-10-20 | 2018-04-04 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710981179.7A CN107640238B (en) | 2017-10-20 | 2017-10-20 | Cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107640238A CN107640238A (en) | 2018-01-30 |
| CN107640238B true CN107640238B (en) | 2023-12-22 |
Family
ID=61124583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710981179.7A Active CN107640238B (en) | 2017-10-20 | 2017-10-20 | Cleaning robot |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6830282B2 (en) |
| CN (1) | CN107640238B (en) |
| WO (1) | WO2019076003A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107640238B (en) * | 2017-10-20 | 2023-12-22 | 苏州瑞得恩光能科技有限公司 | Cleaning robot |
| CN110450870A (en) * | 2019-09-15 | 2019-11-15 | 杜家鑫 | A kind of farm machinery |
| CN114104131B (en) * | 2021-12-30 | 2022-12-27 | 苏州瑞得恩光能科技有限公司 | Crawler and crawler travel device |
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| JP2005280638A (en) * | 2004-03-31 | 2005-10-13 | Iseki & Co Ltd | Crawler falling prevention device of working vehicle |
| CN205701768U (en) * | 2016-04-19 | 2016-11-23 | 唐山学院 | A kind of cleaning car for steel storage tank inwall weld cleaning |
| CN106269624A (en) * | 2016-09-21 | 2017-01-04 | 苏州瑞得恩自动化设备科技有限公司 | Solar panel sweeping robot |
| CN205989804U (en) * | 2016-05-19 | 2017-03-01 | 西安天和海防智能科技有限公司 | Cavitation jet cleaning hull robot turns magnetic pole adsorbing mechanism and crawler belt |
| CN107128389A (en) * | 2017-06-30 | 2017-09-05 | 河北工业大学 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
| CN207311644U (en) * | 2017-10-20 | 2018-05-04 | 苏州瑞得恩光能科技有限公司 | A kind of sweeping robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10315715B2 (en) * | 2010-11-08 | 2019-06-11 | James Beard | Mobile, climbing endless track robotic system to perform remote inspections on structures |
| CN206155605U (en) * | 2016-09-21 | 2017-05-10 | 苏州瑞得恩光能科技有限公司 | Track tensioning device |
| CN107640238B (en) * | 2017-10-20 | 2023-12-22 | 苏州瑞得恩光能科技有限公司 | Cleaning robot |
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2017
- 2017-10-20 CN CN201710981179.7A patent/CN107640238B/en active Active
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2018
- 2018-04-04 WO PCT/CN2018/081989 patent/WO2019076003A1/en active Application Filing
- 2018-04-04 JP JP2019558531A patent/JP6830282B2/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019076003A1 (en) | 2019-04-25 |
| JP2020517518A (en) | 2020-06-18 |
| JP6830282B2 (en) | 2021-02-17 |
| CN107640238A (en) | 2018-01-30 |
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