CN112172954A - Wall surface cleaning robot - Google Patents
Wall surface cleaning robot Download PDFInfo
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- CN112172954A CN112172954A CN202010978645.8A CN202010978645A CN112172954A CN 112172954 A CN112172954 A CN 112172954A CN 202010978645 A CN202010978645 A CN 202010978645A CN 112172954 A CN112172954 A CN 112172954A
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- wall surface
- cleaning
- adsorption
- mechanisms
- rack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
- F03D80/55—Cleaning
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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
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
The invention provides a wall surface cleaning robot which comprises a rack, two first adsorption travelling mechanisms, a second adsorption travelling mechanism, two cleaning mechanisms and a control cabinet, wherein the two first adsorption travelling mechanisms are respectively hinged to two opposite sides of the front end of the rack through first hinge mechanisms and are used for adsorbing a wall surface and crawling on the wall surface; the second adsorption travelling mechanism is arranged at the rear end of the rack and is used for adsorbing the wall surface and crawling on the wall surface; the two cleaning mechanisms are respectively hinged to two opposite sides of the rack through second hinge mechanisms and are positioned between the corresponding first adsorption travelling mechanism and the second adsorption travelling mechanism; the control cabinet is electrically connected with the two first adsorption travelling mechanisms and the two cleaning mechanisms respectively. The wall surface cleaning robot has the curved surface self-adaptive capacity, can be stably adsorbed and walk on the wall surface, and the cleaning structure can effectively clean the wall surface.
Description
Technical Field
The invention belongs to the technical field of cleaning equipment, and particularly relates to a wall surface cleaning robot.
Background
In recent years, with the increasing wind power scale, maintenance, cleaning, rust prevention and detection of wind power generation equipment become more and more important. At present, a wall-climbing robot is adopted to replace manual work to finish aloft work, and the application of automatic cleaning and detection work is more and more extensive. However, when a general wall-climbing robot passes through a wall surface with a bulge, a large curvature, a variable curvature and the like as a power generation tower drum, the robot often slips down due to adsorption failure, integrally rolls over and the like, and the adaptability to uneven wall surfaces is very limited, so that the robot cannot meet the operation requirement of complex wall surfaces.
Disclosure of Invention
The embodiment of the invention aims to provide a wall surface cleaning robot, which solves the technical problem that a wall climbing robot in the prior art is difficult to stably adsorb on a wall surface with a bulge, a large curvature, a variable curvature and the like.
In order to achieve the purpose, the invention adopts the technical scheme that: provided is a wall surface cleaning robot for adsorbing on a wall surface and cleaning the wall surface, including:
a frame;
the two first adsorption travelling mechanisms are hinged to two opposite sides of the front end of the rack through first hinge mechanisms respectively and are used for adsorbing the wall surface and crawling on the wall surface;
the second adsorption travelling mechanism is arranged at the rear end of the rack and is used for adsorbing the wall surface and crawling on the wall surface;
the two cleaning mechanisms are hinged to two opposite sides of the rack through second hinge mechanisms respectively, are positioned between the corresponding first adsorption travelling mechanism and the second adsorption travelling mechanism, and are used for cleaning the wall surface; and
and the control cabinet is electrically connected with the two first adsorption travelling mechanisms and the two cleaning mechanisms respectively.
In one embodiment, the first hinge mechanism includes a first joint rotating shaft fixedly connected to the frame, a joint bearing fixedly connected to the first adsorption walking mechanism, and a first connecting joint rotatably connected to the first joint rotating shaft through the joint bearing.
In one embodiment, the first adsorption traveling mechanism comprises a housing, a speed reducer, a driving wheel and a first motor, the housing is fixedly connected with the first connecting joint, the speed reducer is fixedly connected with the housing, a main shaft of the first motor is connected with an input hole of the speed reducer, and an output shaft of the speed reducer is coaxially connected with the driving wheel.
In one embodiment, the second hinge mechanism comprises a connecting rod and an elastic connecting piece, one end of the connecting rod is rotatably connected to the frame, and the other end of the connecting rod is rotatably connected to the cleaning mechanism; one end of the elastic connecting piece is rotatably connected to the rack, and the other end of the elastic connecting piece is rotatably connected to the connecting rod.
In one embodiment, the cleaning mechanism comprises a cleaning brush, a brush cover arranged on the cleaning brush, and a second motor arranged on the brush cover, one end of the connecting rod, which is far away from the rack, is rotationally connected to the brush cover, and a main shaft of the second motor extends into the brush cover and is fixedly connected with the cleaning brush.
In one embodiment, the cleaning mechanism further comprises a walking member arranged on the side surface of the brush cover and used for crawling on the wall surface.
In one embodiment, the wall surface cleaning robot further includes two auxiliary traveling mechanisms disposed at opposite sides of the front end of the frame, the auxiliary traveling mechanisms are configured to crawl on the wall surface, and the second adsorption traveling mechanism and the two auxiliary traveling mechanisms form a triangular stable distribution.
In one embodiment, the second adsorption travelling mechanism and the auxiliary travelling mechanism each include a universal wheel carrier arranged on the frame and an auxiliary wheel rotatably connected to the universal wheel carrier.
In one embodiment, the first adsorption travelling mechanism and the second adsorption travelling mechanism each comprise a magnetic adsorption component for adsorbing on the wall surface; when the wall surface cleaning robot is adsorbed on the wall surface, the magnetic adsorption component and the wall surface are arranged at intervals.
In one embodiment, the magnetic adsorption component comprises a magnetic yoke block, a protective sleeve arranged opposite to the magnetic yoke block, and a permanent magnet clamped between the magnetic yoke block and the protective sleeve.
The wall surface cleaning robot provided by the invention has the beneficial effects that: compared with the prior art, the two first adsorption travelling mechanisms are arranged on two opposite sides of the front end of the rack, the second adsorption travelling mechanism is arranged at the rear end of the rack, and the two first adsorption travelling mechanisms and the second adsorption travelling mechanism form triangular stable distribution, so that the wall surface cleaning robot can be stably adsorbed and walk on the wall surface;
the first adsorption walking mechanisms are hinged to the rack through the first hinge mechanisms, so that the two first adsorption walking mechanisms on the two sides of the rack can form a certain swing amplitude along with the condition of the wall surface, when the wall surface cleaning robot walks on the wall surfaces with different curvatures, the two first adsorption walking mechanisms can swing around the first hinge mechanisms along with the fluctuation of the wall surface, the gap between the first adsorption walking mechanisms and the wall surface cannot be obviously changed, the wall surface cleaning robot is ensured to stably adsorb and walk and cannot generate overturning danger, and the wall surface cleaning robot has curved surface self-adaption capability, so that the wall surface cleaning robot can be more flexible in maintenance operation of various wall surfaces;
through setting up two wiper mechanisms respectively in the relative both sides of frame for wall surface cleaning robot's compact structure, and, wiper mechanism articulates in the frame through second hinge mechanisms, so sets up, makes two wiper mechanisms can fluctuate and swing round second hinge mechanisms along with the wall, and the clearance between wiper mechanism and the wall can not take place obvious change, effectively guarantees that wiper mechanism can wash the wall.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic perspective view of a wall surface cleaning robot according to an embodiment of the present invention;
FIG. 2 is an exploded view of a wall cleaning robot according to an embodiment of the present invention;
fig. 3 is a schematic view of a wall surface cleaning robot walking on a convex wall surface according to an embodiment of the present invention;
FIG. 4 is a schematic view of a wall cleaning robot according to an embodiment of the present invention walking on a concave wall;
fig. 5 is an exploded view of the frame and the first hinge mechanism according to the embodiment of the present invention;
FIG. 6 is an exploded view of the cleaning mechanism and the second hinge mechanism according to the present invention;
FIG. 7 is a schematic view of a cleaning mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic bottom view of a cleaning mechanism according to an embodiment of the present invention;
fig. 9 is an exploded view of the first absorption traveling mechanism according to the embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
100-a frame; 110-a second rotating part; 200-a first adsorption travelling mechanism; 210-a housing; 220-a reducer; 230-a drive wheel; 240-a first motor; 300-a second adsorption travelling mechanism; 400-auxiliary walking mechanism; 500-a cleaning mechanism; 510-washing brushes; 520-a brush cover; 530-a second motor; 540-a walking member; 600-a first hinge mechanism; 610-a first joint axis of rotation; 611-a first fixed seat; 612-a first body portion; 613-first rotating shaft; 620-knuckle bearing; 630-a first connection joint; 631-a second holder; 632-a first articulation plate; 633-a first via; 700-a second hinge mechanism; 710-a connecting rod; 711-a second articular plate; 712-a second via; 713-a third spindle; 714-a first rotating part; 720-elastic connecting piece; 721-fourth articular plate; 722-a third rotating part; 730-a second joint axis of rotation; 731-third fixing seat; 732-a second body portion; 733-second axis of rotation; 740-a second connecting joint; 741-a fourth holder; 742-a third joint plate; 743-a third via; 811-universal wheel carrier; 812-an auxiliary wheel; 820-a magnetic attraction assembly; 821-conductive yoke iron block; 822-a protective sleeve; 823-permanent magnet; 900-control cabinet.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and 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 is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 and 2, an embodiment of the present invention provides a wall surface cleaning robot for adsorbing on and cleaning a wall surface, the wall surface cleaning robot includes a rack 100, two first adsorption traveling mechanisms 200, a second adsorption traveling mechanism 300, two cleaning mechanisms 500, and a control cabinet 900, wherein the two first adsorption traveling mechanisms 200 are respectively hinged to two opposite sides of a front end of the rack 100 through first hinge mechanisms 600, and the first adsorption traveling mechanisms 200 are used for adsorbing on and crawling on the wall surface; the second adsorption traveling mechanism 300 is arranged at the rear end of the rack 100, and the second adsorption traveling mechanism 300 is used for adsorbing on a wall surface and crawling on the wall surface; the two cleaning mechanisms 500 are respectively hinged to two opposite sides of the rack 100 through second hinge mechanisms 700, the cleaning mechanisms 500 are located between the corresponding first adsorption travelling mechanism 200 and the corresponding second adsorption travelling mechanism 300, and the cleaning mechanisms 500 are used for cleaning the wall surface; the control cabinet 900 is electrically connected to the two first adsorption traveling mechanisms 200 and the two cleaning mechanisms 500, respectively. In this embodiment, the control cabinet 900 may be disposed on the rack 100, but is not limited to this.
Compared with the prior art, the wall surface cleaning robot has the beneficial effects that:
(1) as shown in fig. 1 and 2, two first adsorption traveling mechanisms 200 are arranged on two opposite sides of the front end of the rack 100, a second adsorption traveling mechanism 300 is arranged at the rear end of the rack 100, and the two first adsorption traveling mechanisms 200 and the second adsorption traveling mechanism 300 form a triangular stable distribution, so that the wall surface cleaning robot can stably adsorb and walk on the wall surface;
(2) with reference to fig. 1 to 4, the first adsorption traveling mechanisms 200 are hinged to the rack 100 through the first hinge mechanisms 600, so that the two first adsorption traveling mechanisms 200 on the two sides of the rack 100 can form a certain swing amplitude along with the wall surface condition, when the wall surface cleaning robot travels on the wall surfaces with different curvatures, the two first adsorption traveling mechanisms 200 can swing around the first hinge mechanisms 600 along with the fluctuation of the wall surface, the gap between the first adsorption traveling mechanisms 200 and the wall surface does not change significantly, the wall surface cleaning robot is ensured to adsorb stably and travel without overturning danger, and the wall surface cleaning robot has a curved surface self-adaptive capability, so that the wall surface cleaning robot can be more flexible in maintenance operation on various wall surfaces;
(3) as shown in fig. 1 and 2, the two cleaning mechanisms 500 are respectively arranged at two opposite sides of the rack 100, so that the wall surface cleaning robot has a compact structure, and the cleaning mechanisms 500 are hinged to the rack 100 through the second hinge mechanism 700, so that the two cleaning mechanisms 500 can swing around the second hinge mechanism 700 along with the fluctuation of the wall surface, the gap between the cleaning mechanism 500 and the wall surface does not change obviously, and the cleaning mechanism 500 can effectively clean the wall surface;
(4) as shown in fig. 1 and 2, two cleaning mechanisms 500 are located between the corresponding first adsorption traveling mechanism 200 and second adsorption traveling mechanism 300, and thus, the center of gravity of the wall surface cleaning robot is stabilized at a position between the first adsorption traveling mechanism 200 and the second adsorption traveling mechanism 300, so that the structural layout of the wall surface cleaning robot is more reasonable.
Further, as an embodiment of the present invention, as shown in fig. 1 and 2, two first adsorption traveling mechanisms 200 are symmetrically disposed on two opposite sides of the frame 100, and a second adsorption traveling mechanism 300 is disposed along a central axis of the frame 100, so that the two first adsorption traveling mechanisms 200 and the second adsorption traveling mechanism 300 are distributed in an isosceles triangle, so that the wall surface cleaning robot can stably adsorb and travel on the wall surface. In this embodiment, to further ensure the reliability of the wall-cleaning robot, two cleaning mechanisms 500 may be symmetrically disposed on two opposite sides of the frame 100.
Further, as an embodiment of the present invention, referring to fig. 2 and 5, the first hinge mechanism 600 includes a first joint rotating shaft 610, a joint bearing 620, and a first connecting joint 630, the first joint rotating shaft 610 is fixedly connected to the frame 100, the first connecting joint 630 is fixedly connected to the first absorption walking mechanism 200, and the first connecting joint 630 is rotatably connected to the first joint rotating shaft 610 through the joint bearing 620, so that the first absorption walking mechanism 200 is hinged to the frame 100 through the first hinge mechanism 600. It is understood that the specific structure of the first hinge mechanism 600 may be modified as appropriate according to the choice of actual conditions and specific requirements, and is not limited thereto.
Specifically, as shown in fig. 2 and fig. 5, the first joint rotation shaft 610 includes a first fixing seat 611, a first main body 612 disposed on the first fixing seat 611, and two first rotation shafts 613 disposed on two opposite sides of the first main body 612, the first fixing seat 611 is fixed to a side surface of the rack 100, and the first fixing seat 611 may be, but is not limited to, fixed to the side surface of the rack 100 by a connecting member (e.g., a screw, a bolt, etc.);
the first connecting joint 630 includes a second fixing base 631 and two first joint plates 632 disposed on the second fixing base 631, the two first joint plates 632 are spaced and oppositely disposed, the second fixing base 631 is fixed on the first absorption travelling mechanism 200, and the second fixing base 631 may be specifically, but not limited to, fixed on the first absorption travelling mechanism 200 through a connecting member (e.g., a screw, a bolt, etc.);
the two first joint plates 632 are respectively disposed on opposite sides of the first main body portion 612, that is, the first main body portion 612 is sandwiched between the two first joint plates 632, the first joint plates 632 are provided with first through holes 633 for the joint bearings 620 to be mounted, and the first rotating shaft 613 is inserted into the corresponding joint bearing 620, so that the first absorption travelling mechanism 200 is hinged to the rack 100.
Further, as shown in fig. 9, as an embodiment of the present invention, the first absorption traveling mechanism 200 includes a housing 210, a speed reducer 220, a driving wheel 230, and a first motor 240, the first motor 240 is electrically connected to the control cabinet 900, please refer to fig. 2 and fig. 5 together, the housing 210 is fixedly connected to the second fixing seat 631 of the first connection joint 630, the speed reducer 220 is fixedly connected to the housing 210, a main shaft of the first motor 240 is connected to an input hole of the speed reducer 220, an output shaft of the speed reducer 220 is coaxially connected to the driving wheel 230, and the output shaft of the speed reducer 220 may be, but is not limited to, coaxially connected to the driving wheel 230 through a coupling (not shown). Under the structure, the two first adsorption traveling mechanisms 200 are respectively driven by the corresponding first motors 240, and can advance or retreat, and in addition, the two first motors 240 are controlled and adjusted by the control cabinet 900, so that the rotation of the main shafts of the two first motors 240 has a speed difference, and turning can be realized, for example, the control cabinet 900 controls and adjusts the main shafts of the two first motors 240 to rotate reversely at a constant speed, so that in-situ turning can be realized. It is understood that the specific structure of the first adsorption walking mechanism 200 can be modified appropriately according to the choice of actual conditions and specific requirements, and is not limited thereto.
As an alternative embodiment of the present invention, the reducer 220 may be, but is not limited to, a right-angle reducer, and is configured such that the first adsorption traveling mechanism 200 is compact, and the structural layout of the wall surface cleaning robot is more reasonable. Of course, the speed reducer 220 may be of other types according to the choice and specific requirements of the actual situation, and is not limited herein.
Further, as an embodiment of the present invention, as shown in fig. 6 and 7, the second hinge mechanism 700 includes a connecting rod 710 and an elastic connecting member 720, the elastic connecting member 720 may be, but not limited to, a compression spring, and referring to fig. 2, one end of the connecting rod 710 is rotatably connected to the frame 100, and the other end is rotatably connected to the cleaning mechanism 500; one end of the elastic link 720 is rotatably coupled to the frame 100 and the other end is rotatably coupled to the connection rod 710, so that the cleaning mechanism 500 is hinged to the frame 100 by the second hinge mechanism 700. With this structure, as shown in fig. 7, when the wall surface cleaning robot is attached to the wall surface, the elastic connection member 720 is in a compressed state, so that the elastic force generated by the elastic connection member 720 can make the cleaning mechanism 500 abut against the wall surface, thereby effectively ensuring that the cleaning mechanism 500 cleans the wall surface. It is understood that the specific structure of the second hinge mechanism 700 may be modified as appropriate according to the choice of actual conditions and specific requirements, and is not limited thereto.
Specifically, as shown in fig. 2, 6 and 7, the second hinge mechanism 700 further includes a second joint rotating shaft 730 disposed on a side surface of the rack 100 and a second connecting joint 740 disposed on the cleaning mechanism 500, one end of the connecting rod 710 is rotatably connected to the second joint rotating shaft 730, and the other end is rotatably connected to the cleaning mechanism 500, so that the cleaning mechanism 500 is hinged to the rack 100 through the second hinge mechanism 700.
Specifically, as shown in fig. 2, 6 and 7, the second joint rotating shaft 730 includes a third fixing seat 731 disposed on a side surface of the rack 100, a second main body portion 732 disposed on the third fixing seat 731, and a second rotating shaft 733 disposed on opposite sides of the second main body portion 732, where the third fixing seat 731 may be specifically, but not limited to, fixed on the side surface of the rack 100 by a connecting member (e.g., a screw, a bolt, etc.);
one end of the connecting rod 710 is provided with two second joint plates 711 which are oppositely arranged, and two opposite sides of the other end are respectively provided with a third rotating shaft 713; the two second joint plates 711 are respectively disposed on two opposite sides of the second body portion 732, that is, the second body portion 732 is sandwiched between the two second joint plates 711, and the second joint plates 711 are provided with second through holes 712 into which the second rotating shaft 733 is rotatably inserted, so that the connecting rod 710 is rotatably connected to the second joint rotating shaft 730;
the second connecting joint 740 includes a fourth fixing seat 741 disposed on the cleaning mechanism 500 and two third joint plates 742 disposed on the fourth fixing seat 741, the two third joint plates 742 are disposed at an interval and are opposite to each other, the fourth fixing seat 741 may be specifically but not limited to be fixed on the cleaning mechanism 500 through a connecting member (such as a screw, a bolt, etc.), the two third joint plates 742 are disposed on two opposite sides of one end of the connecting rod 710 where the third rotating shaft 713 is disposed, and the third joint plate 742 is disposed with a third through hole 743 through which the third rotating shaft 713 is rotatably inserted, so that the connecting rod 710 and the second connecting joint 740 are rotatably connected.
Specifically, as shown in fig. 2, 6 and 7, a first rotating portion 714 is disposed in the middle of the connecting rod 710, a second rotating portion 110 is disposed on the bottom surface of the rack 100, and two ends of the elastic connecting member 720 are respectively rotatably connected to the first rotating portion 714 and the second rotating portion 110, specifically, two fourth joint plates 721 oppositely disposed are disposed at one end of the elastic connecting member 720, the two fourth joint plates 721 are respectively disposed at two opposite sides of the first rotating portion 714, and a pin (not shown) is used to penetrate through the fourth joint plates 721 and the first rotating portion 714, so that the elastic connecting member 720 is rotatably connected to the connecting rod 710; similarly, an end of the elastic connection member 720, which is far away from the fourth joint plate 721, is provided with a third rotation portion 722, and a pin (not shown) is used to pass through the second rotation portion 110 and the third rotation portion 722, so that the elastic connection member 720 is rotatably connected to the frame 100.
Further, as shown in fig. 7, as an embodiment of the present invention, the elastic connection member 720 is disposed below the connection rod 710, and the end of the elastic connection member 720 where the third rotation portion 722 is disposed is higher than the end of the elastic connection member 720 where the fourth joint plate 721 is disposed, so that when the wall surface cleaning robot is attached to the wall surface, the elastic connection member 720 is in a compressed state, so that the elastic force generated by the elastic connection member 720 can make the cleaning mechanism 500 abut against the wall surface, thereby effectively ensuring that the cleaning mechanism 500 cleans the wall surface.
Further, as shown in fig. 6 and 8, as an embodiment of the present invention, the cleaning mechanism 500 includes a cleaning brush 510, a brush cover 520 covering the cleaning brush 510, and a second motor 530 provided on the brush cover 520, the second motor 530 is electrically connected to the control cabinet 900, one end of the connecting rod 710 remote from the chassis 100 is rotatably connected to a second connecting joint 740 on the brush cover 520, a spindle of the second motor 530 is inserted into the brush cover 520 and fixedly connected to the cleaning brush 510, and the cleaning brush 510 is driven to rotate by the second motor 530 so that the bristles of the cleaning brush 510 clean the wall surface, for example. In this embodiment, the fourth fixing seat 741 of the second connecting joint 740 is disposed on the brush cover 520, and the fourth fixing seat 741 may be, but is not limited to, fixed on the brush cover 520 by a connecting member (e.g., a screw, a bolt, etc.). It is understood that the specific structure of the cleaning mechanism 500 may be modified as appropriate according to the choice of actual conditions and specific requirements, and is not limited thereto.
Further, as an embodiment of the present invention, as shown in fig. 6 and 8, the cleaning mechanism 500 further includes a walking member 540 disposed on a side surface of the brush cover 520 and configured to crawl on the wall surface, when the wall surface cleaning robot is attached to the wall surface, the walking member 540 contacts with the wall surface, so that the brush cover 520 is disposed at an interval with the wall surface, and when the wall surface cleaning robot walks on the wall surface, the brush cover 520 rubs against the wall surface to cause abrasion; the runner 540 also prevents the brush bristles of the brush 510 from coming into contact with the wall surface too deeply, and ensures a good cleaning effect. In this embodiment, the walking member 540 may be embodied as, but not limited to, a gimbaled ball.
Further, as an embodiment of the present invention, as shown in fig. 2 and 5, the wall surface cleaning robot further includes two auxiliary traveling mechanisms 400 disposed at opposite sides of the front end of the frame 100, the auxiliary traveling mechanisms 400 are configured to crawl on the wall surface, and the second adsorption traveling mechanism 300 and the two auxiliary traveling mechanisms 400 are stably distributed in a triangular shape, so that the wall surface cleaning robot can stably adsorb and travel on the wall surface.
Further, as an embodiment of the present invention, as shown in fig. 2 and 5, the second adsorption traveling mechanism 300 and the auxiliary traveling mechanism 400 each include a universal wheel frame 811 provided on the frame 100 and an auxiliary wheel 812 rotatably connected to the universal wheel frame 811. Under the structure, the universal wheel frame 811 can rotate, so that the auxiliary wheel 812 can automatically swing to a proper angle to cooperate with the driving wheel 230 to walk according to the walking path of the driving wheel 230.
Further, as an embodiment of the present invention, as shown in fig. 5 and 9, each of the first and second adsorption traveling mechanisms 200 and 300 includes a magnetic adsorption member 820 for adsorbing on a wall surface; when the wall surface cleaning robot is attached to the wall surface, the magnetic attraction component 820 is spaced apart from the wall surface, and the magnetic attraction component 820 makes the first attraction traveling mechanism 200 and the second attraction traveling mechanism 300 be attached to the wall surface by magnetic force between the first attraction traveling mechanism and the wall surface.
Further, as shown in fig. 5 and 9, as an embodiment of the present invention, the magnetic attraction component 820 includes a conductive yoke block 821, a protective sleeve 822 disposed opposite to the conductive yoke block 821, and a permanent magnet 823 sandwiched between the conductive yoke block 821 and the protective sleeve 822, wherein the permanent magnet 823 may be, but is not limited to, a neodymium iron boron permanent magnet 823. Specifically, the magnetic yoke block 821 of the magnetic attraction unit 820 of the first attraction traveling mechanism 200 is provided on the bottom surface of the housing 210, and the magnetic yoke block 821 of the magnetic attraction unit 820 of the second attraction traveling mechanism 300 is provided on the bottom surface of the rack 100.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A wall surface cleaning robot for adsorbing to and cleaning a wall surface, comprising:
a frame;
the two first adsorption travelling mechanisms are hinged to two opposite sides of the front end of the rack through first hinge mechanisms respectively and are used for adsorbing the wall surface and crawling on the wall surface;
the second adsorption travelling mechanism is arranged at the rear end of the rack and is used for adsorbing the wall surface and crawling on the wall surface;
the two cleaning mechanisms are hinged to two opposite sides of the rack through second hinge mechanisms respectively, are positioned between the corresponding first adsorption travelling mechanism and the second adsorption travelling mechanism, and are used for cleaning the wall surface; and
and the control cabinet is electrically connected with the two first adsorption travelling mechanisms and the two cleaning mechanisms respectively.
2. The wall washing robot as recited in claim 1, wherein the first hinge mechanism comprises a first joint shaft fixedly coupled to the frame, a joint bearing, and a first joint fixedly coupled to the first suction traveling mechanism, the first joint being rotatably coupled to the first joint shaft via the joint bearing.
3. The wall surface cleaning robot according to claim 2, wherein the first suction traveling mechanism includes a housing, a speed reducer, a driving wheel, and a first motor, the housing is fixedly connected to the first connecting joint, the speed reducer is fixedly connected to the housing, a main shaft of the first motor is connected to an input hole of the speed reducer, and an output shaft of the speed reducer is coaxially connected to the driving wheel.
4. The wall washing robot of claim 1 wherein said second hinge assembly includes a connecting rod and a resilient connecting member, said connecting rod being pivotally connected at one end to said frame and pivotally connected at the other end to said washing mechanism; one end of the elastic connecting piece is rotatably connected to the rack, and the other end of the elastic connecting piece is rotatably connected to the connecting rod.
5. The wall surface cleaning robot according to claim 4, wherein the cleaning mechanism includes a cleaning brush, a brush cover covering the cleaning brush, and a second motor covering the brush cover, one end of the connecting rod, which is far away from the rack, is rotatably connected to the brush cover, and a spindle of the second motor extends into the brush cover and is fixedly connected to the cleaning brush.
6. The wall washing robot of claim 5, wherein the washing mechanism further includes a runner provided on a side of the brush housing for climbing on the wall.
7. The wall washing robot of any of claims 1-6, further comprising two sub-chassis disposed on opposite sides of the front end of the frame, the sub-chassis configured to crawl over the wall, the second suction chassis and the two sub-chassis forming a triangular stability profile.
8. The wall-cleaning robot as claimed in claim 7, wherein the second absorbing traveling mechanism and the auxiliary traveling mechanism each include a universal wheel frame provided on the frame and an auxiliary wheel rotatably connected to the universal wheel frame.
9. The wall surface cleaning robot according to any one of claims 1 to 6, wherein each of the first adsorption traveling mechanism and the second adsorption traveling mechanism includes a magnetic adsorption member for adsorbing on the wall surface; when the wall surface cleaning robot is adsorbed on the wall surface, the magnetic adsorption component and the wall surface are arranged at intervals.
10. The wall surface cleaning robot according to claim 9, wherein the magnetic attraction member includes a magnetic yoke block, a protective cover disposed opposite to the magnetic yoke block, and a permanent magnet interposed between the magnetic yoke block and the protective cover.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010978645.8A CN112172954A (en) | 2020-09-17 | 2020-09-17 | Wall surface cleaning robot |
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| CN202010978645.8A CN112172954A (en) | 2020-09-17 | 2020-09-17 | Wall surface cleaning robot |
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| CN112172954A true CN112172954A (en) | 2021-01-05 |
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| CN202010978645.8A Pending CN112172954A (en) | 2020-09-17 | 2020-09-17 | Wall surface cleaning robot |
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| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
| WO2023209253A1 (en) * | 2022-04-26 | 2023-11-02 | Randal Systems Electronica De Control Integral, S.L | Boat hull cleaning equipment |
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