CN107999488B - Cleaning robot - Google Patents
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- CN107999488B CN107999488B CN201711239626.8A CN201711239626A CN107999488B CN 107999488 B CN107999488 B CN 107999488B CN 201711239626 A CN201711239626 A CN 201711239626A CN 107999488 B CN107999488 B CN 107999488B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
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Abstract
The invention relates to a cleaning robot, which solves the technical problems of unclean cleaning, low efficiency and high cost of the existing secondary sedimentation tank cleaning means, and comprises a first bottom surface rotating brush frame, a second bottom surface rotating brush frame, a first side surface rotating brush frame, a second side surface rotating brush frame and a traveling mechanism, wherein the first bottom surface rotating brush frame is connected with a first bottom surface rotating brush driving motor, the second bottom surface rotating brush frame is connected with a second bottom surface rotating brush driving motor, and the first bottom surface rotating brush driving motor and the second bottom surface rotating brush driving motor are respectively connected with a bottom surface rotating brush; the first side face brush rotating frame and the second side face brush rotating frame are respectively connected with a first side face brush rotating driving motor and a second side face brush rotating driving motor; the first side surface rotating brush driving motor and the second side surface rotating brush driving motor are respectively connected with a side surface rotating brush; the first bottom surface rotating brush frame and the second bottom surface rotating brush frame are respectively and rotatably connected with the first side surface rotating brush frame and the second side surface rotating brush frame; the first side face brush rotating frame and the second side face brush rotating frame are connected through a first guide shaft support, a first guide shaft, a second guide shaft support, a second guide shaft, a first sliding seat, a second sliding seat, a first hinge rod, a second hinge rod, a first hinge seat, a second hinge seat and a hinge shaft. The invention is widely used for cleaning the surface of an object.
Description
Technical Field
The invention relates to the technical field of secondary sedimentation tank cleaning, in particular to a cleaning robot for cleaning a secondary sedimentation tank water outlet groove.
Background
In the technical field of sewage treatment, the water outlet tank of the secondary sedimentation tank of the sewage treatment plant is soaked in water for a long time, algae and moss are easy to breed and are not easy to clean when attached to the wall of the tank, so that the uniform distribution and effect of the outlet water are influenced, and the attractiveness of the wall of the tank is also influenced. The problem is particularly serious for the water outlet groove of the secondary sedimentation tank. To address this problem, sweeping or cleaning tools are often used manually to treat dirt and moss. The technical problems of unclean cleaning, low efficiency and high cost exist.
Disclosure of Invention
The invention provides a cleaning robot, aiming at solving the technical problems of unclean cleaning, low efficiency and high cost of the existing secondary sedimentation tank cleaning means.
The invention provides a cleaning robot, which comprises a cleaning mechanism, a traveling mechanism and an adjusting mechanism, wherein the cleaning mechanism comprises a first bottom surface rotating brush frame, a second bottom surface rotating brush frame, a first side surface rotating brush frame, a second side surface rotating brush frame, a first bottom surface rotating brush driving motor, a second bottom surface rotating brush driving motor, a first side surface rotating brush driving motor and a second side surface rotating brush driving motor; the second bottom surface rotating brush driving motor is connected with the second bottom surface rotating brush frame, and an output shaft of the second bottom surface rotating brush driving motor is connected with the bottom surface rotating brush; the first side surface rotating brush driving motor is connected with the first side surface rotating brush frame, and an output shaft of the first side surface rotating brush driving motor is connected with the side surface rotating brush; the second side brush rotating driving motor is connected with the second side brush rotating frame, and an output shaft of the second side brush rotating driving motor is connected with the side brush;
the travelling mechanism comprises a first bottom travelling wheel, a second bottom travelling wheel, a first bottom supporting wheel, a second bottom supporting wheel, a first guide wheel, a second guide wheel, a first side travelling wheel, a second side travelling wheel, a first bottom travelling wheel mounting plate and a second bottom travelling wheel mounting plate, wherein the first bottom travelling wheel mounting plate is connected with the bottom of the first side rotating brush frame; the first bottom surface supporting wheel is connected with the first bottom surface rotating brush frame, the first guide wheel is connected with the free end of the first bottom surface rotating brush frame, the second bottom surface supporting wheel is connected with the second bottom surface rotating brush frame, and the second guide wheel is connected with the free end of the second bottom surface rotating brush frame; the first side traveling wheel and the second side traveling wheel are respectively connected with the first side rotating brush frame and the second side rotating brush frame;
the adjusting mechanism comprises a first guide shaft bracket, a first guide shaft, a second guide shaft bracket, a second guide shaft, a first sliding seat, a second sliding seat, a first hinge rod, a second hinge rod, a first hinge seat, a second hinge seat, a hinge shaft, a third electric telescopic rod, a first angle adjusting shaft, a second angle adjusting shaft, a first shaft seat, a second shaft seat, a first connecting frame, a second connecting frame, a first electric telescopic rod and a second electric telescopic rod, wherein the first guide shaft bracket is fixedly connected with the first side surface rotating brush bracket, the first guide shaft is fixedly connected with the first guide shaft bracket through a bracket, and the first hinge seat is connected with the first guide shaft bracket; the second guide shaft support is fixedly connected with the second side face brush rotating frame, the second guide shaft is fixedly connected with the second guide shaft support through a support, and the second hinge seat is connected with the second guide shaft support; the first sliding seat is connected with the first guide shaft in a sliding manner, and the second sliding seat is connected with the second guide shaft in a sliding manner; one end of the first hinge rod is hinged with the first sliding seat, and the other end of the first hinge rod is hinged with the second sliding seat; one end of the second hinge rod is hinged with the second hinge seat, the other end of the second hinge rod is hinged with the first hinge seat, and the first hinge rod and the second hinge rod are hinged together in a crossed mode through a hinge shaft; a piston rod of the third electric telescopic rod is hinged with the second sliding seat, and a cylinder body of the third electric telescopic rod is hinged with the second hinge seat; the first connecting frame is fixedly connected with the first bottom surface rotating brush frame, the first shaft seat is fixedly connected with the first side surface rotating brush frame, the first angle adjusting shaft is fixedly connected with the first connecting frame, and the first shaft seat is rotatably connected with the first angle adjusting shaft; the second connecting frame is fixedly connected with the second bottom surface rotating brush frame, the second shaft seat is fixedly connected with the second side surface rotating brush frame, the second angle adjusting shaft is fixedly connected with the second connecting frame, and the second shaft seat is rotatably connected with the second angle adjusting shaft; a piston rod of the first electric telescopic rod is hinged with the first bottom walking wheel mounting plate, and a cylinder body of the first electric telescopic rod is hinged with the first connecting frame; a piston rod of the second electric telescopic rod is hinged to the second bottom walking wheel mounting plate, and a cylinder body of the second electric telescopic rod is hinged to the second connecting frame.
Preferably, the output shaft of the first bottom surface rotating brush driving motor is connected with a plurality of bottom surface rotating brushes through a transmission mechanism, and the output shaft of the second bottom surface rotating brush driving motor is connected with a plurality of bottom surface rotating brushes through a transmission mechanism;
the output shaft of the first side surface rotating brush driving motor is connected with a plurality of side surface rotating brushes through a transmission mechanism, and the output shaft of the second side surface rotating brush driving motor is connected with a plurality of side surface rotating brushes through a transmission mechanism.
Preferably, the transmission mechanism is a synchronous belt transmission mechanism.
The invention has the advantages that the cleaning operation is automatically implemented, manual operation is replaced, and the automation degree is high; high efficiency, low cost and better cleaning effect.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a perspective view of a cleaning robot;
FIG. 2 is a front view of the cleaning robot;
FIG. 3 is a rear view of the cleaning robot;
FIG. 4 is a top view of the cleaning robot;
FIG. 5 is a bottom view of the cleaning robot;
FIG. 6 is a left side view of the cleaning robot;
FIG. 7 is a schematic view of a second bottom brush driving motor in the cleaning mechanism connected to the bottom brush via a timing belt;
FIG. 8 is a schematic view of the first angle adjustment shaft and the first electric telescopic rod installed in the adjustment mechanism;
FIG. 9 is a perspective view of the cleaning robot from another perspective;
fig. 10 is a schematic diagram of the movement of the cleaning robot in the secondary sedimentation tank effluent trough.
The symbols in the drawings illustrate that:
1. a first bottom surface rotating brush holder 101, a 1 st bottom surface rotating brush 102, a 2 nd bottom surface rotating brush 103, a 3 rd bottom surface rotating brush 104, a first bottom surface rotating brush driving motor, a 2, a second bottom surface rotating brush holder 201, a 4 th bottom surface rotating brush 202, a 5 th bottom surface rotating brush 203, a 6 th bottom surface rotating brush 204, a second bottom surface rotating brush driving motor 205, a synchronous belt 206, a synchronous belt 207, a driven wheel 207, a 208 driven wheel, a 209, a driving wheel, a 3. first side surface rotating brush holder 301, a 1 st side surface rotating brush 302, a 2 nd side surface rotating brush 303, a 3 rd side surface rotating brush 303, a 304, a 4 th side surface rotating brush 305, a 5 th side surface rotating brush 306, a 6 th side surface rotating brush 307, a 7 th side surface rotating brush, a 308, a first side surface rotating brush driving motor 309, a synchronous belt 310, a driven wheel 311, a driven wheel 4, a 4 th side surface rotating brush holder 401, a 8 th side surface rotating brush 402, a 9 th side surface rotating brush, 403. a 10 th side rotary brush, 404, an 11 th side rotary brush, 405, a 12 th side rotary brush, 406, a 13 th side rotary brush, 407, a 14 th side rotary brush, 408 and a second side rotary brush driving motor;
5. the device comprises a first bottom walking wheel, 5-1 a first bottom walking wheel mounting plate, 6 a second bottom walking wheel, 6-1 a second bottom walking wheel mounting plate, 7 a first bottom supporting wheel, 8 a second bottom supporting wheel, 9 a first guide wheel, 10 a second guide wheel, 11 a first side walking wheel, 12 a second side walking wheel, 13 a first angle adjusting shaft, 14 a second angle adjusting shaft, 15 a first shaft seat, 16 a second shaft seat, 17 a first connecting frame, 18 a second connecting frame, 19 a first electric telescopic rod, 20 a second electric telescopic rod, 21 a third electric telescopic rod, 22 a first guide shaft frame, 22-1 a first guide shaft, 23 a second guide shaft frame, 23-1 a second guide shaft, 24 a first sliding seat, 25 a second sliding seat, 26 a first hinged rod, 27. a second hinge lever, 28, a first hinge seat, 29, a second hinge seat, 30, a hinge shaft; 100. the outer wall of the water outlet groove, 200, the inner wall of the water outlet groove.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1-6, the cleaning robot includes a cleaning mechanism, a traveling mechanism, and an adjusting mechanism. The cleaning mechanism is used as an execution unit and is used for removing dirt and moss on the bottom surface, the inner wall and the outer wall surface of the secondary sedimentation tank water outlet groove. The traveling mechanism is used for driving the cleaning mechanism to move in the secondary sedimentation tank water outlet groove. The adjusting mechanism is used for adjusting the position of the cleaning mechanism along the width direction of the water outlet groove of the secondary sedimentation tank.
The cleaning mechanism comprises a first bottom surface rotary brush frame 1, a second bottom surface rotary brush frame 2, a first side surface rotary brush frame 3, a second side surface rotary brush frame 4, a first 1 bottom surface rotary brush 101, a second 2 bottom surface rotary brush 102, a 3 rd bottom surface rotary brush 103, a 4 th bottom surface rotary brush 201, a 5 th bottom surface rotary brush 202, a 6 th bottom surface rotary brush 203, a 1 st side surface rotary brush 301, a 2 nd side surface rotary brush 302, a 3 rd side surface rotary brush 303, a 4 th side surface rotary brush 304, a 5 th side surface rotary brush 305, a 6 th side surface rotary brush 306, a 7 th side surface rotary brush 307, a 8 th side surface rotary brush 401, a 9 th side surface rotary brush 402, a 10 th side surface rotary brush 403, a 11 th side surface rotary brush 404, a 12 th side surface rotary brush 405, a 13 th side surface rotary brush 406, a 14 th side surface rotary brush 407, a first bottom surface rotary brush driving motor 104, a second bottom surface rotary brush driving motor 204, a synchronous belt 205, a synchronous belt 206, a 207, a synchronous belt 208, a driven wheel 209, a driven wheel, Synchronous belt 309, from driving wheel 310, second side brush rotating drive motor 408, install first bottom surface brush rotating drive motor 104 on first bottom surface brush rotating frame 1 through the support, a driving wheel and two driven wheels are connected on first bottom surface brush rotating frame 1 with rotating, two driven wheels are located the both sides (shown in fig. 1) of driving wheel, be connected through the synchronous belt between every driven wheel and the driving wheel, the output shaft and the driving wheel of first bottom surface brush rotating drive motor 104 are connected, 2 nd bottom surface brush rotating 102 is connected with the driving wheel, 1 st bottom surface brush rotating 101 is connected with the left driven wheel of driving wheel, 3 rd bottom surface brush rotating 103 is connected with the driven wheel on driving wheel right side. The installation method of the rotary brush on the second bottom surface rotary brush frame 2 is the same as the installation method of the rotary brush on the first bottom surface rotary brush frame 1, as shown in fig. 7, the second bottom surface rotary brush driving motor 204 is installed on the second bottom surface rotary brush frame 2 through a bracket, a driven wheel 207, a driven wheel 208 and a driving wheel 209 are respectively and rotatably installed on the second bottom surface rotary brush frame 2, a synchronous belt 205 is connected between the driven wheel 207 and the driving wheel 209, the synchronous belt 206 is connected between the driven wheel 208 and the driving wheel 209, the output shaft of the second bottom surface rotary brush driving motor 204 is connected with the driving wheel 209, and the 4 th bottom surface rotary brush 201, the 5 th bottom surface rotary brush 202 and the 6 th bottom surface rotary brush 203 are respectively connected with the driven wheel 207, the driving wheel 209 and.
A first side face rotating brush driving motor 308 is installed in the middle of the first side face rotating brush frame 3 through a support, a driving wheel is installed in the middle of the first side face rotating brush frame 3, three driven wheels are installed above the driving wheel, three driven wheels are installed below the driving wheel, the driving wheel is connected with the driven wheels which are adjacent up and down through a synchronous belt, two adjacent driven wheels are connected through a synchronous belt (for example, the driven wheel 310 is connected with the driven wheel 311 through the synchronous belt 309), and an output shaft of the first side face rotating brush driving motor 308 is connected with the driving wheel; the 1 st side brush 301, the 2 nd side brush 302 and the 3 rd side brush 303 are connected to three driven wheels above the driving wheel from top to bottom, the 4 th side brush 304 is connected to the driving wheel, and the 5 th side brush 305, the 6 th side brush 306 and the 7 th side brush 307 are connected to three driven wheels below the driving wheel. The 1 st side surface rotary brush 301, the 2 nd side surface rotary brush 302, the 3 rd side surface rotary brush 303, the 4 th side surface rotary brush 304, the 5 th side surface rotary brush 305, the 6 th side surface rotary brush 306 and the 7 th side surface rotary brush 307 are arranged in a W shape from top to bottom.
The mode of installing the rotating brush on the second side rotating brush frame 4 is the same as the mode of installing the rotating brush on the first side rotating brush frame 3, the second side rotating brush driving motor 408 is installed at the middle position of the second side rotating brush frame 4 through a bracket, a driving wheel is installed at the middle position of the second side rotating brush frame 4, three driven wheels are installed above the driving wheel, three driven wheels are installed below the driving wheel, the driving wheel is connected with the driven wheels which are adjacent up and down through a synchronous belt, the two adjacent driven wheels are connected through the synchronous belt, and the output shaft of the second side rotating brush driving motor 408 is connected with the driving wheel; the 8 th side rotary brush 401, the 9 th side rotary brush 402 and the 10 th side rotary brush 403 are respectively connected with three driven wheels above the driving wheel from top to bottom, the 11 th side rotary brush 404 is connected with the driving wheel, and the 12 th side rotary brush 405, the 13 th side rotary brush 406 and the 14 th side rotary brush 407 are respectively connected with three driven wheels below the driving wheel. The 8 th side surface rotary brush 401, the 9 th side surface rotary brush 402, the 10 th side surface rotary brush 403, the 11 th side surface rotary brush 404, the 12 th side surface rotary brush 405, the 13 th side surface rotary brush 406 and the 14 th side surface rotary brush 407 are arranged in a W shape from top to bottom.
It should be noted that the transmission mechanism between the rotary brush driving motor and the rotary brush is not limited to a synchronous belt transmission mechanism, and a chain transmission mechanism or a wire rope transmission mechanism may also be adopted.
The traveling mechanism comprises a first bottom traveling wheel 5, a second bottom traveling wheel 6, a first bottom supporting wheel 7, a second bottom supporting wheel 8, a first guide wheel 9, a second guide wheel 10, a first side traveling wheel 11, a second side traveling wheel 12, a first bottom traveling wheel mounting plate 5-1 and a second bottom traveling wheel mounting plate 6-1, wherein the first bottom traveling wheel mounting plate 5-1 is connected to the bottom of the first side rotating brush frame 3, the first bottom traveling wheel 5 is connected with the first bottom traveling wheel mounting plate 5-1, the second bottom traveling wheel mounting plate 6-1 is connected to the bottom of the second side rotating brush frame 4, and the second bottom traveling wheel 6 is connected with the second bottom traveling wheel mounting plate 6-1. The first underside support wheel 7 is connected to the free end of the first underside brush carrier 1, but may of course be mounted elsewhere on the brush carrier. A first guide wheel 9 is mounted at the free end of the first underside brush carrier 1. The second bottom surface supporting wheel 8 is connected with the free end of the second bottom surface rotating brush frame 2, and the second guiding wheel 10 is installed at the free end of the second bottom surface rotating brush frame 2. The first side walking wheels 11 are connected with the outer side of the first side rotating brush frame 3, and the second side walking wheels 12 are connected with the outer side of the second side rotating brush frame 4.
The first bottom supporting wheels 7 and the second bottom supporting wheels 8 can adopt universal balls.
The adjusting mechanism comprises a first angle adjusting shaft 13, a second angle adjusting shaft 14, a first shaft seat 15, a second shaft seat 16, a first connecting frame 17, a second connecting frame 18, a first electric telescopic rod 19, a second electric telescopic rod 20, a third electric telescopic rod 21, a first guide shaft bracket 22, a first guide shaft 22-1, a second guide shaft bracket 23, a second guide shaft 23-1, a first sliding seat 24, a second sliding seat 25, a first hinging rod 26, a second hinging rod 27, a first hinging seat 28, a second hinging seat 29 and a hinging shaft 30, and in combination with fig. 8, the first shaft seat 15 is fixedly connected with the first side surface rotating brush frame 3, the first connecting frame 17 is fixedly connected with the first bottom surface rotating brush frame 1, the first angle adjusting shaft 13 penetrates through the first shaft seat 15 to form a rotating connection relation, and the lower end of the first angle adjusting shaft 13 is fixedly connected with the first connecting frame 17; the first electric telescopic rod 19 comprises a cylinder body, a piston rod is arranged in the cylinder body, the piston rod of the first electric telescopic rod 19 is hinged to the first bottom walking wheel mounting plate 5-1, and the cylinder body is hinged to the first connecting frame 17. The second shaft base 16 is fixedly connected with the second side face rotating brush frame 4, the second connecting frame 18 is fixedly connected with the second bottom face rotating brush frame 2, the second angle adjusting shaft 14 penetrates through the second shaft base 16 to form a rotating connection relation, and the lower end of the second angle adjusting shaft 14 is fixedly connected with the second connecting frame 18. The second electric telescopic rod 20 comprises a cylinder body, a piston rod is arranged in the cylinder body, the piston rod of the second electric telescopic rod 20 is hinged with the second bottom walking wheel mounting plate 6-1, and the cylinder body is hinged with the second connecting frame 18.
Referring to fig. 9, the first guide shaft bracket 22 is fixedly coupled to the first side brush holder 3, the first guide shaft 22-1 is fixedly coupled to the first guide shaft bracket 22 through a bracket, and the first hinge base 28 is coupled to the first guide shaft bracket 22; the second guide shaft bracket 23 is fixedly connected with the second side face rotating brush bracket 4, the second guide shaft 23-1 is fixedly connected with the second guide shaft bracket 23 through a bracket, and the second hinge seat 29 is connected with the second guide shaft bracket 23; the first sliding seat 24 is connected with the first guide shaft 22-1 in a sliding manner, and the second sliding seat 25 is connected with the second guide shaft 23-1 in a sliding manner; one end of the first hinge rod 26 is hinged with the first sliding seat 24, and the other end is hinged with the second sliding seat 25; the second hinge rod 27 has one end hinged to the second hinge seat 29 and the other end hinged to the first hinge seat 28, and the first hinge rod 26 and the second hinge rod 27 are crosswise hinged to each other through a hinge shaft 30. The third electric telescopic rod 21 comprises a cylinder body, a piston rod is arranged in the cylinder body, the piston rod is hinged to the second sliding seat 25, and the cylinder body is hinged to the second hinging seat 29.
When the adjusting mechanism works, the first electric telescopic rod 19 acts to enable the first angle adjusting shaft 13 and the first bottom surface rotating brush frame 1 to rotate for a certain angle by taking the first shaft seat 15 as a fulcrum, so that the vertical distance between the first guide wheel 9 and the first side surface rotating brush frame 3 is adjusted; the second electric telescopic rod 20 is operated to rotate the second angle adjustment shaft 14 and the second bottom surface brush holder 2 by a certain angle using the second shaft base 16 as a fulcrum, so as to adjust the vertical distance between the second guide wheel 10 and the second side surface brush holder 4. The third electric telescopic rod 21 is operated to slide the second sliding seat 25 along the second guiding axle 23-1, and further to slide the first sliding seat 24 along the first guiding axle 22-1 through the first hinge rod 26 and the second hinge rod 27, so as to adjust the distance between the first side brush carrier 3 and the second side brush carrier 4.
The first electric telescopic rod 19 and the second electric telescopic rod 20 can be replaced by other telescopic mechanisms, and all the mechanisms capable of driving the first angle adjusting shaft 13 and the second angle adjusting shaft 14 to rotate can be used.
The third electric telescopic rod 21 can be replaced by other telescopic mechanisms, and any mechanism capable of driving the second sliding seat 25 to slide on the second guide shaft 23-1 can be used.
It should be noted that the third electric telescopic rod 21 can be installed between the first sliding seat 24 and the first hinge seat 28, and is used for driving the first sliding seat 24 to slide.
The working process of the cleaning robot is described as follows:
the water outlet groove of the secondary sedimentation tank consists of a bottom surface, an inner wall and an outer wall, ceramic tiles are respectively pasted on the bottom surface, the inner wall and the outer wall, the cleaning robot is placed in the water outlet groove of the secondary sedimentation tank, so that the first bottom surface rotating brush frame 1 and the second bottom surface rotating brush frame 2 are horizontally placed on the bottom surface ceramic tiles, the first bottom surface travelling wheels 5 and the second bottom surface travelling wheels 6 are supported on the bottom surface ceramic tiles, and the first bottom surface supporting wheels 7 and the second bottom surface supporting wheels 8 are in contact with the bottom surface ceramic tiles; the transversely arranged first guide wheel 9 and the transversely arranged second guide wheel 10 are respectively abutted against the exterior wall ceramic tile and the interior wall ceramic tile, and the first side walking wheel 11 and the second side walking wheel 12 are respectively abutted against the interior wall ceramic tile and the exterior wall ceramic tile. Therefore, the 1 st bottom surface rotary brush 101, the 2 nd bottom surface rotary brush 102, the 3 rd bottom surface rotary brush 103, the 4 th bottom surface rotary brush 201, the 5 th bottom surface rotary brush 202, and the 6 th bottom surface rotary brush 203 are in close contact with the bottom surface tiles of the outlet channel, the 1 st side surface rotary brush 301, the 2 nd side surface rotary brush 302, the 3 rd side surface rotary brush 303, the 4 th side surface rotary brush 304, the 5 th side surface rotary brush 305, the 6 th side surface rotary brush 306, and the 7 th side surface rotary brush 307 are in close contact with the interior wall tiles, and the 8 th side surface rotary brush 401, the 9 th side surface rotary brush 402, the 10 th side surface rotary brush 403, the 11 th side surface rotary brush 404, the 12 th side surface rotary brush 405, the 13 th side surface rotary brush 406, and the 14 th side surface rotary brush 407 are in close contact with the exterior wall.
The first bottom walking wheels 5, the second bottom walking wheels 6, the first side walking wheels 11 and the second side walking wheels 12 of the walking mechanism move to drive the whole robot to move forwards, and the first bottom walking wheels 5 and the second bottom walking wheels 6 are mainly used for supporting the weight of the whole robot. Meanwhile, the first bottom surface rotary brush driving motor 104, the second bottom surface rotary brush driving motor 204, the first side surface rotary brush driving motor 308 and the second side surface rotary brush driving motor 408 respectively drive the corresponding bottom surface rotary brush and the corresponding side surface rotary brush to rotate at a given speed, and the rotary brushes remove dirt and moss adhered on the ceramic tiles.
Referring to fig. 10, when the inner wall 200 of the outlet channel is a circumferential surface and the outer wall 100 of the outlet channel is a spiral surface, the first side traveling wheels 11 and the second side traveling wheels 12 can be driven independently, so that the first side traveling wheels 11 and the second side traveling wheels 12 move in a differential manner, and the difference dynamically changes to control the traveling posture of the robot and make the side rotary brush always cling to the surface of the tile, thereby achieving a better cleaning effect.
In addition, because of the existence of the spiral surface, the width of the bottom surface of the water outlet groove gradually changes, and gradually decreases, that is, the distance between the inner wall and the outer wall gradually decreases, so that the configuration of the robot needs to be changed by the first angle adjusting shaft 13 and the second angle adjusting shaft 14 to adapt to the change, that is, on the basis that the side rotating brush tightly attached to the inner wall and the side rotating brush tightly attached to the outer wall are respectively tightly attached to the wall surface ceramic tile, the rotating angles of the first angle adjusting shaft 13 and the second angle adjusting shaft 14 are dynamically changed by the first electric telescopic rod 19 and the second electric telescopic rod 20, and the distance between the first side rotating brush frame 3 and the second side rotating brush frame 4 is changed by the third electric telescopic rod 21, so that the occupied width of the bottom surface rotating brush adapts to the width which the actual water outlet groove can pass, thereby realizing the cleaning operation of the bottom surface, the inner wall and the outer wall under.
The above description is only for the purpose of illustrating preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention.
Claims (3)
1. A cleaning robot is characterized by comprising a cleaning mechanism, a walking mechanism and an adjusting mechanism, wherein the cleaning mechanism comprises a first bottom surface rotating brush frame, a second bottom surface rotating brush frame, a first side surface rotating brush frame, a second side surface rotating brush frame, a first bottom surface rotating brush driving motor, a second bottom surface rotating brush driving motor, a first side surface rotating brush driving motor and a second side surface rotating brush driving motor; the second bottom surface rotating brush driving motor is connected with the second bottom surface rotating brush frame, and an output shaft of the second bottom surface rotating brush driving motor is connected with the bottom surface rotating brush; the first side surface rotating brush driving motor is connected with the first side surface rotating brush frame, and an output shaft of the first side surface rotating brush driving motor is connected with the side surface rotating brush; the second side brush rotating driving motor is connected with the second side brush rotating frame, and an output shaft of the second side brush rotating driving motor is connected with the side brush;
the walking mechanism comprises a first bottom walking wheel, a second bottom walking wheel, a first bottom supporting wheel, a second bottom supporting wheel, a first guide wheel, a second guide wheel, a first side walking wheel, a second side walking wheel, a first bottom walking wheel mounting plate and a second bottom walking wheel mounting plate, wherein the first bottom walking wheel mounting plate is connected with the bottom of the first side rotating brush frame, the first bottom walking wheel is connected with the first bottom walking wheel mounting plate, the second bottom walking wheel mounting plate is connected with the bottom of the second side rotating brush frame, and the second bottom walking wheel is connected with the second bottom walking wheel mounting plate; the first bottom surface supporting wheel is connected with the first bottom surface rotating brush frame, the first guide wheel is connected with the free end of the first bottom surface rotating brush frame, the second bottom surface supporting wheel is connected with the second bottom surface rotating brush frame, and the second guide wheel is connected with the free end of the second bottom surface rotating brush frame; the first side traveling wheels and the second side traveling wheels are respectively connected with the first side rotating brush frame and the second side rotating brush frame;
the adjusting mechanism comprises a first guide shaft bracket, a first guide shaft, a second guide shaft bracket, a second guide shaft, a first sliding seat, a second sliding seat, a first hinge rod, a second hinge rod, a first hinge seat, a second hinge seat, a hinge shaft, a third electric telescopic rod, a first angle adjusting shaft, a second angle adjusting shaft, a first shaft seat, a second shaft seat, a first connecting bracket, a second connecting bracket, a first electric telescopic rod and a second electric telescopic rod, wherein the first guide shaft bracket is fixedly connected with the first side surface rotating brush bracket, the first guide shaft is fixedly connected with the first guide shaft bracket through a bracket, and the first hinge seat is connected with the first guide shaft bracket; the second guide shaft support is fixedly connected with the second side face brush rotating support, the second guide shaft is fixedly connected with the second guide shaft support through a support, and the second hinge seat is connected with the second guide shaft support; the first sliding seat is connected with the first guide shaft in a sliding manner, and the second sliding seat is connected with the second guide shaft in a sliding manner; one end of the first hinge rod is hinged with the first sliding seat, and the other end of the first hinge rod is hinged with the second sliding seat; one end of the second hinge rod is hinged with the second hinge seat, the other end of the second hinge rod is hinged with the first hinge seat, and the first hinge rod and the second hinge rod are hinged together in a crossed mode through a hinge shaft; a piston rod of the third electric telescopic rod is hinged with the second sliding seat, and a cylinder body of the third electric telescopic rod is hinged with the second hinge seat; the first connecting frame is fixedly connected with the first bottom surface rotating brush frame, the first shaft seat is fixedly connected with the first side surface rotating brush frame, the first angle adjusting shaft is fixedly connected with the first connecting frame, and the first shaft seat is rotatably connected with the first angle adjusting shaft; the second connecting frame is fixedly connected with the second bottom surface rotating brush frame, the second shaft seat is fixedly connected with the second side surface rotating brush frame, the second angle adjusting shaft is fixedly connected with the second connecting frame, and the second shaft seat is rotatably connected with the second angle adjusting shaft; a piston rod of the first electric telescopic rod is hinged with the first bottom walking wheel mounting plate, and a cylinder body of the first electric telescopic rod is hinged with the first connecting frame; and a piston rod of the second electric telescopic rod is hinged with the second bottom walking wheel mounting plate, and a cylinder body of the second electric telescopic rod is hinged with the second connecting frame.
2. A cleaning robot as claimed in claim 1, characterized in that:
an output shaft of the first bottom surface rotating brush driving motor is connected with a plurality of bottom surface rotating brushes through a transmission mechanism, and an output shaft of the second bottom surface rotating brush driving motor is connected with a plurality of bottom surface rotating brushes through a transmission mechanism;
the output shaft of the first side surface rotating brush driving motor is connected with a plurality of side surface rotating brushes through a transmission mechanism, and the output shaft of the second side surface rotating brush driving motor is connected with a plurality of side surface rotating brushes through a transmission mechanism.
3. A cleaning robot as claimed in claim 2, characterized in that the transmission is a synchronous belt transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711239626.8A CN107999488B (en) | 2017-11-30 | 2017-11-30 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711239626.8A CN107999488B (en) | 2017-11-30 | 2017-11-30 | Cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107999488A CN107999488A (en) | 2018-05-08 |
| CN107999488B true CN107999488B (en) | 2020-09-22 |
Family
ID=62055407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711239626.8A Active CN107999488B (en) | 2017-11-30 | 2017-11-30 | Cleaning robot |
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| CN110841991B (en) * | 2019-11-29 | 2024-05-17 | 威海三田永磁科技有限公司 | Full-automatic cleaning robot for standard circular amplitude flow type secondary sedimentation tank |
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| CN206613817U (en) * | 2017-03-17 | 2017-11-07 | 湖南国祯环保科技有限责任公司 | A kind of secondary clarifier effluent weir cleaning plant |
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| CN204159623U (en) * | 2014-09-23 | 2015-02-18 | 燕山大学 | A kind of drain channel of sedimentation tank cleaning device |
| US9468957B1 (en) * | 2016-02-01 | 2016-10-18 | King Saud University | Storage tank cleaning machine |
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| CN107999488A (en) | 2018-05-08 |
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