CN110341828B

CN110341828B - Curved surface running gear and magnetic force cleaning robot thereof

Info

Publication number: CN110341828B
Application number: CN201910682145.7A
Authority: CN
Inventors: 方海涛; 王汝贵; 黄曙光; 崔玉华; 姚欣; 杨涛
Original assignee: Shanghai Cool Robot Co ltd
Current assignee: Shanghai Cool Robot Co ltd
Priority date: 2019-07-26
Filing date: 2019-07-26
Publication date: 2021-03-16
Anticipated expiration: 2039-07-26
Also published as: CN110341828A

Abstract

The invention provides a curved surface walking device and a magnetic cleaning robot thereof, belonging to the field of cleaning robots, wherein the curved surface walking device comprises: a trolley body; the driving device is arranged on the trolley body and is used for driving the wheels to rotate; the dolly body includes: the frame is at least two groups, and at least two groups of frames are arranged in the width direction of the trolley body oppositely and are hinged and connected through a hinge piece. The curved surface walking device provided by the invention enables the frame to rotate along the axis direction of the hinge piece to adapt to working surfaces with different curvature radii, and ensures that the magnetic cleaning robot can be effectively attached to the working surfaces to stably clean.

Description

Curved surface running gear and magnetic force cleaning robot thereof

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a curved surface walking device and a magnetic cleaning robot thereof.

Background

Wind power generation as an important clean energy becomes a preferred development choice in the low-carbon economic era, and the number of wind power generator groups is increasing continuously. The outer wall of the wind power tower barrel is subjected to influences of long-term wind blowing and sun exposure in the field, gravel friction, saline-alkali corrosion and the like, paint removal and even corrosion occur on the outer wall of the wind power tower barrel, the attractiveness of the influence is achieved, and even the operation safety of a fan is possibly endangered, so that the wind power tower barrel needs to be cleaned. The traditional cleaning mode depends on manual cleaning by cleaning personnel, and the cleaning mode is time-consuming and labor-consuming, incomplete in cleaning and unsafe.

The existing wall-climbing cleaning robot comprises a robot main body, a crawler device and a cleaning device, wherein the robot main body is connected with the crawler device, the crawler device comprises a driving wheel, a crawler piece and a magnetic device, the magnetic device is arranged on the surface of the crawler piece, the crawler piece can be adsorbed on a working surface through the magnetic device, in addition, the crawler piece is sleeved on the driving wheel and meshed with the driving wheel, the driving wheel is used for driving the crawler piece to operate, so that the crawler device can walk on the working surface, and then the robot main body is driven to move along the working surface to drive the cleaning device to complete cleaning work.

However, when the existing wall climbing robot walks on a curved surface, the existing wall climbing robot cannot adapt to the curved surface with different curvature radiuses, so that the magnetic device cannot be effectively attached to the working surface, the adsorption force of the magnetic device on the working surface is reduced, the crawler surface is easy to separate from the working surface, and the use reliability of the wall climbing robot is reduced.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defect that the wall-climbing robot in the prior art cannot adapt to working surfaces with different curvature radiuses, so that the curved surface walking device and the magnetic cleaning robot thereof are provided.

In order to solve the above technical problems, the present invention provides a curved surface traveling device, including:

a trolley body;

the driving device is arranged on the trolley body and used for driving wheels to rotate;

the dolly body includes:

the trolley comprises at least two groups of frames, wherein the at least two groups of frames are oppositely arranged in the width direction of the trolley body and are hinged and connected through a hinge piece.

Preferably, a driving member is provided between adjacent frames, and the driving member applies a biasing force to the frames to bring the frames into contact with the working surface.

As a preferred scheme, the frame has two groups, and the two groups are respectively arranged on two sides of the trolley body.

As a preferred scheme, the middle parts of the inner side surfaces of the two groups of the frames and one side close to the working surface are provided with connecting shafts, and the connecting shafts are hinged through the hinged pieces.

Preferably, the driving part is a push rod, and two ends of the push rod are respectively hinged with the inner side surfaces of the adjacent frames to drive the two sets of frames to move in the opposite direction or in the opposite direction.

Preferably, the push rod is arranged on the inner side surface of the adjacent frame and is far away from the working surface.

Preferably, the push rod is an electric oil cylinder and is arranged between the two groups of frames through a hinged support, and the hinged support is fixed in the middle of the inner side face of each frame.

Preferably, the four wheels are Mecanum wheels and are respectively mounted at the front end and the rear end of the frame.

Preferably, the driving devices are four motors, and the four motors are respectively mounted on the inner side surface of the frame and are arranged opposite to the mecanum wheels.

The invention provides a magnetic cleaning robot, which comprises a curved surface walking device in any one of the schemes.

Preferably, the method further comprises the following steps:

the adsorption devices are respectively arranged on the two groups of frames, are positioned between the two Mecanum wheels fixed on each group of frames, and are used for adsorbing the trolley body on the working surface;

and the cleaning device is positioned at the front end of the trolley body and used for cleaning the working surface.

The adsorption device is a permanent magnet.

The cleaning device includes:

one end of the cleaning bracket is connected with the frame, and the other end of the cleaning bracket is connected with the cleaning brush base;

the cleaning brush devices are distributed on the cleaning brush base and used for cleaning the working surface;

the recovery device is connected with the base of the cleaning brush and is used for recovering and treating the cleaning waste liquid;

and the water feeding system is connected with the base of the cleaning brush and is used for spraying a cleaning agent on the working surface.

The cleaning support includes:

one end of the cross rod is fixedly connected with a connecting plate extending out of the frame through a joint bearing, and the other end of the cross rod is in floating connection with the connecting plate through the joint bearing.

The two vertical rods are arranged, one end of each vertical rod is vertically fixed on the cross rod, and the other end of each vertical rod is obliquely fixed with the upper surface of the base of the cleaning brush;

and one end of the electric push rod is hinged to the central position of the front end face of the trolley body, and the other end of the electric push rod is hinged to the cleaning brush base.

The brush cleaner device includes:

the cleaning brush is connected with an output shaft of the speed reducing motor;

the speed reducing motor is connected to the mounting plate through the end face of the output shaft, the side face of the mounting plate is connected with the first frame through an adjusting bolt, and the top face of the first frame is connected with the second frame through a bolt;

and the spring is connected with the bolt and provides positive pressure for keeping the speed reducing motor at the working position.

The recovery device comprises:

the collecting tank is arranged on the edge of the base of the cleaning brush, which is close to one side of the trolley body;

the collecting scraper is arranged on the edge of the collecting groove close to one side of the working surface;

and the recovery collecting pipe is connected with the middle part of the collecting tank and is used for discharging dirty liquid in the collecting tank.

The technical scheme of the invention has the following advantages:

1. the curved surface walking device provided by the invention realizes walking action by driving wheels on the trolley body to rotate through the driving device, wherein the trolley body comprises at least two groups of frames which are oppositely arranged in the width direction of the trolley body and are hinged and connected through the hinged parts, and the frames can rotate around the axis of the hinged parts, so that the trolley body is driven to adapt to working curved surfaces with different curvature radii, and the trolley body can be ensured to stably run on a working surface.

2. According to the curved surface walking device provided by the invention, the driving piece arranged between the adjacent frames provides a biasing force to drive the frames to bend into the curved surface attached to the working surface, the biasing force disperses partial pressure of the frames in the vertical direction, and the running resistance is minimized while the attachment of the frames and the working surface is ensured.

3. According to the curved surface walking device provided by the invention, the two groups of frames are respectively arranged on the two sides of the trolley body, so that the whole width of the walking device is increased, the distance between stress points on a working surface is increased, and the whole device is more uniformly stressed and runs more stably.

4. According to the curved surface walking device provided by the invention, the connecting shafts are arranged in the middle of the inner side surfaces of the two groups of frames and on one side close to the working surface, and the two groups of frames are hinged through the hinge pieces, so that the two groups of frames are symmetrically arranged on two sides of the hinge pieces, and can stably rotate along the axis of the hinge pieces when being acted by external force, and the stable movement of the whole walking device is ensured.

5. According to the curved surface walking device provided by the invention, the driving piece is a push rod, two ends of the driving piece are respectively hinged with the inner side surfaces of the adjacent vehicle frames to drive the two sets of vehicle frames to move in the opposite direction or in the opposite direction, the push rod is simple in structure and convenient to install, and the cambered surface formed by the vehicle frames is effectively attached to the working surface by utilizing the horizontal thrust of the push rod.

6. According to the curved surface walking device provided by the invention, the push rod is arranged on the inner side surface of the adjacent frame and is far away from the position of the working surface, so that the working requirement can be met by using the push rod with a smaller stroke, the structure of the whole device is more compact, and the cost is saved.

7. According to the curved surface walking device provided by the invention, the push rod is an electric oil cylinder and is arranged between the two groups of frames through the hinged support, wherein the hinged support is fixed in the middle of the inner side surface of the frames, and the electric oil cylinder conveniently realizes precise control on thrust, speed and position by utilizing the closed-loop control characteristic of the servo motor, so that the frames are effectively attached to a working surface.

8. According to the curved surface walking device provided by the invention, the wheels are Mecanum wheels which are respectively arranged at the front end and the rear end of the frame, the Mecanum wheels are compact in structure, and can realize all-directional movement functions such as forward movement, transverse movement, oblique movement, rotation and combination of the forward movement, the transverse movement, the oblique movement, the rotation and the combination of the forward movement, and the rotation.

9. According to the curved surface walking device provided by the invention, the four driving devices are motors which are respectively arranged on the inner side surface of the frame and are opposite to the Mecanum wheels, and the four motors are respectively matched with the four Mecanum wheels, so that the synchronous operation of the four wheels can be effectively ensured.

10. The magnetic force cleaning robot provided by the invention has the advantages of any one of the above aspects because the magnetic force cleaning robot has the curved surface walking device of any one of the above aspects.

11. The invention provides a magnetic cleaning robot, further comprising: the cleaning trolley comprises an adsorption device and a cleaning device, wherein the adsorption device comprises two groups which are respectively arranged on the two corresponding groups of frames and positioned between 2 Mecanum wheels, so that the trolley body is adsorbed on a working surface; the cleaning device is positioned at the front end of the trolley body and used for cleaning a working surface; two sets of adsorption equipment symmetrical arrangement are on two sets of frames, and the dolly body receives balanced magnetic action, guarantees that it drives cleaning device along predetermined orbit and carries out effectual cleaning work to the working face.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural view of a magnetic cleaning robot according to the present invention;

FIG. 2 is a front view of a curved surface traveling unit and a working surface thereof;

FIG. 3 is a schematic view of the sweeping device;

figure 4 is a cross-sectional view of the sweeper brush assembly taken along a front-to-back plane of symmetry thereof.

Description of reference numerals:

1. a trolley body; 2. a frame; 3. a connecting shaft; 4. an articulation member; 5. an electric oil cylinder; 6. hinging seat; 7. a Mecanum wheel; 8. an electric motor; 9. an adsorption device; 10. a cleaning device; 11. cleaning the bracket; 12. a brush base; 13. a brush cleaning device; 14. a cross bar; 15, erecting a rod; 16. a connecting plate; 17, an electric push rod; 18. cleaning with a brush; 19. a reduction motor; 20. a first frame; 21. a second frame; 22. a spring; 23. mounting a plate; 24. adjusting the bolt; 25. a bolt; 26. collecting tank; 27. collecting a scraper; 28. a recovery collecting pipe; 29. a working surface; 30. and a knuckle bearing.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The curved running gear provided by the embodiment is used for enabling the frame 2 shown in fig. 2 to move by being attached to the working surface 29; wherein, the frame 2 has two groups which are respectively arranged at the two sides of the trolley body 1; a connecting shaft 3 is arranged at the middle part of the inner side surface of the frame 2 and on one side close to the working surface 29, and the connecting shaft 3 is connected through a hinge part 4; the inner side surface of each group of the frames 2 is fixed with a hinged support 6, the electric oil cylinder 5 is connected between the two groups of the frames 2 through the hinged supports 6 and is arranged on one side far away from the working surface 29, so that the electric oil cylinder 5 with shorter stroke can be used to achieve the working purpose; the electric oil cylinder 5 precisely controls the piston rods to stretch and retract by utilizing the closed-loop control characteristic of a servo motor thereof to drive the two groups of frames 2 to move towards or away from each other along the axial direction of the articulated element 4, and simultaneously, the angle formed between the two connecting shafts 3 is changed, so that the two groups of frames 2 form connecting surfaces attached to the working surface 29 and provide the frames 2 with biasing force attached to the working surface 29; therefore, the trolley body 1 can adapt to working surfaces with different curvature radiuses in real time through the extension and retraction of the electric oil cylinder 5, and can be guaranteed to be closely matched with the working surfaces at any time and stably run on the working surfaces.

As shown in fig. 2, the front end and the rear end of each set of frame 2 are provided with mecanum wheels 7, and the mecanum wheels 7 have the function of realizing omnidirectional movement and can drive the trolley body 1 to flexibly run on a working surface; the inner side surface of the frame 2 is provided with four motors 8, and the four motors 8 are respectively arranged opposite to the four Mecanum wheels 7 to drive the four Mecanum wheels 7 to synchronously run.

As shown in fig. 1, the magnetic cleaning robot of the present invention further includes an adsorption device 9 and a cleaning device 10. The adsorption devices 9 are respectively arranged on the two groups of frames 2 and positioned between the two Mecanum wheels 7 fixed on each group of frames 2, and adsorb the trolley body 1 on the working surface 29, wherein the adsorption devices adopt permanent magnets which have low manufacturing cost and small influence on the surrounding environment; the cleaning device 10 is arranged at the front end of the trolley body 1 and is used for cleaning a working surface 29.

As shown in fig. 3, the cleaning device 10 includes four parts, i.e., a cleaning holder 11, a cleaning brush device 13, a recovery device, and a water supply system.

As shown in fig. 3, the sweeper brush holder 11 includes: the transverse rod 14, the vertical rod 15 and the electric push rod 17; one end of the cross rod 14 is fixedly connected with a connecting plate 16 extending out of the edge of the frame 2 through a joint bearing 30, and the other end of the cross rod is in floating connection with the connecting plate 16 through the joint bearing 30, so that the phenomenon that the sweeping brush support 11 is blocked when the angle of the frame 2 is changed can be avoided; two vertical rods 15, one end of each vertical rod is vertically fixed on the cross rod 14, and the other end of each vertical rod is obliquely fixed with the upper surface of the cleaning brush base 12; one end of the electric push rod 17 is hinged to the center of the front end face of the trolley body 1, the other end of the electric push rod is hinged to the cleaning brush base 12, and the electric push rod 17 stretches and retracts to drive the cleaning device 10 to lift in a pitching mode, so that the cleaning work of the working face 29 is achieved.

And the water feeding system is connected with the sweeping brush base 12 and used for spraying a cleaning agent on the working surface and cleaning the working surface by matching with the sweeping brush device 13.

As shown in fig. 3, the recovery device is connected to the base 12 of the washing brush, and includes a collection tank 26, a collection scraper 27, and a recovery collection pipe 28; the collecting groove 26 is arranged on the edge of the base 12 of the cleaning brush, which is close to one side of the trolley body 1, and is used for collecting dirty liquid generated by cleaning and preventing the dirty liquid from reversely flowing to pollute the working surface again; the collecting scraper 27 is arranged on the edge of the collecting groove 26 close to one side of the working surface 29, and when cleaning is carried out, the collecting scraper 27 presses the working surface to prevent dirty liquid from flowing to the outside of the collecting groove 26; the recovery collecting pipe 28 is installed in the middle of the collecting tank 26, and is used for recovering dirty liquid inside the collecting tank 26.

As shown in fig. 3, the plurality of cleaning brush devices 13 are disposed on the cleaning brush base 12 to clean the working surface 29. The cleaning brush device 13 includes: a cleaning brush 18, a speed reduction motor 19 and a spring 22; the cleaning brush 18 is connected with an output shaft of the speed reducing motor, and the cleaning brush 18 is driven by the rotation of the output shaft to realize rotary cleaning; the speed reducing motor 19 is connected to a mounting plate 23 through the end face of the output shaft, the side face of the mounting plate 23 is connected with a first frame 20 through an adjusting bolt 24, and the top face of the first frame 20 is connected with a second frame 21 through a bolt 25; a spring 22 is connected with the bolt 25 and provides a positive pressure for keeping the speed reducing motor 19 at the working position; wherein the position of the sweeper brush 18 is adjustable to accommodate working surfaces 29 of different radii of curvature in the following manner: the position of the sweeper brush 18 in the radial direction is changed by adjusting the nut at the top of the bolt 25 up and down; the adjusting bolts 24 are finely adjusted to change the position of the sweeper brush 18 in the tangential direction to accommodate the curvature of the work surface.

The working principle is as follows: the trolley body is adapted to working surfaces with different curvature radiuses by adjusting the rotating angles of the frames on the two sides along the axis direction of the hinged piece, so that the magnetic cleaning robot can be effectively attached to the working surfaces to stably clean.

Of course, the application of the present invention is not limited to the way of attaching the frame 2 to the working surface 29, but in other embodiments, the connecting shaft 3 of the frame 2 is connected to a driving motor, and the driving motor drives two adjacent connecting shafts 3 to rotate to the position of attaching to the working surface at the rotation point of the hinge 4.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. A curved surface running gear, characterized by, includes:

a trolley body (1);

the driving device is arranged on the trolley body (1) and is used for driving wheels to rotate;

the trolley body (1) comprises:

the two groups of the frame (2) are respectively arranged on two sides of the trolley body (1) and are hinged and connected through a hinge piece (4); a driving piece is arranged between the vehicle frames (2), and the driving piece applies a biasing force to the vehicle frames (2) to enable the vehicle frames to be attached to a working surface (29);

the driving piece is a push rod, two ends of the push rod are respectively hinged with the inner side faces of the adjacent vehicle frames (2) to drive the two sets of vehicle frames (2) to move towards or away from each other.

2. The curved running gear according to claim 1, wherein a connecting shaft (3) is arranged in the middle of the inner side surfaces of the two sets of frames (2) and on one side close to the working surface (29), and the connecting shaft (3) is hinged through the hinge piece (4).

3. The curved running gear according to claim 1, wherein the push rod is arranged on the inner side surface of the adjacent vehicle frame (2) at a position far away from the working surface (29).

4. The curved surface walking device according to claim 1, wherein the push rod is an electric oil cylinder (5) and is installed between the two sets of the frames (2) through a hinged support (6), and the hinged support (6) is fixed in the middle of the inner side surface of the frames (2).

5. The curved running gear of claim 1, wherein the wheels are four, each of which is a Mecanum wheel (7) mounted on the front and rear ends of the frame (2).

6. The curved running gear according to claim 5, wherein the driving means are four electric motors (8) respectively mounted on the inner side of the frame (2) and arranged opposite to the Mecanum wheels (7).

7. A magnetic force cleaning robot comprising the curved surface traveling device according to any one of claims 1 to 6.

8. The magnetic cleaning robot of claim 7, further comprising: the two groups of adsorption devices (9) are respectively arranged on the two groups of frames (2), and four wheels of the curved surface walking device are respectively arranged at the front end and the rear end of each frame (2) and are Mecanum wheels (7); the adsorption device (9) is positioned between the two Mecanum wheels (7) fixed on each group of the frame (2) and is used for adsorbing the trolley body (1) on the working surface (29);

and the cleaning device (10) is positioned at the front end of the trolley body (1) and is used for cleaning the working surface (29).