CN117718987A - Robot with safety mechanism - Google Patents
Robot with safety mechanism Download PDFInfo
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- CN117718987A CN117718987A CN202410179769.8A CN202410179769A CN117718987A CN 117718987 A CN117718987 A CN 117718987A CN 202410179769 A CN202410179769 A CN 202410179769A CN 117718987 A CN117718987 A CN 117718987A
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- robot body
- negative pressure
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- 230000007246 mechanism Effects 0.000 title claims abstract description 90
- 238000004140 cleaning Methods 0.000 claims abstract description 136
- 238000004804 winding Methods 0.000 claims abstract description 30
- 238000007664 blowing Methods 0.000 claims description 23
- 238000001179 sorption measurement Methods 0.000 claims description 23
- 239000000428 dust Substances 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention discloses a robot with a safety mechanism, which belongs to the field of cleaning robots and comprises a cleaning robot and a traction mechanism, wherein the cleaning robot is used for cleaning the inner wall of a silo to be cleaned, the traction mechanism comprises a workbench, a first winding and unwinding rope component, a first guide rod, a second guide rod, an adjusting component and a traction rope, the first winding and unwinding rope component is arranged on the workbench, the upper end of the first guide rod is rotatably connected to the workbench, one end of the second guide rod is hinged with the lower end of the first guide rod, one end of the second guide rod, which is far away from the first guide rod, is provided with a wire guide, the wire guide is provided with a wire guide, the adjusting component is connected with the first guide rod and the second guide rod, the adjusting component is used for adjusting an included angle between the first guide rod and the second guide rod, one end of the traction rope is connected to the first winding and unwinding rope component, and the other end of the traction rope penetrates through the wire guide and is connected with the cleaning robot. The robot with the safety mechanism is pulled by the traction rope when the cleaning robot falls, so that the robot is not easy to fall or impact to damage.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a robot with a safety mechanism.
Background
The vertical silo is a basic device for storing, conveying and processing materials, and is suitable for various bulk materials such as grains, cement and the like. With the increase of the storage time of the materials in the vertical silo, a part of the materials are hardened on the side wall or the top of the vertical silo. When the materials in the vertical silo need to be emptied and cleaned, the hardened materials cannot fall off and flow to the bottom of the vertical silo under the action of self gravity, so that the loss of the materials is caused, and some detection equipment and instruments in the vertical silo are damaged, so that the hardened materials need to be cleaned. In the prior art, a mode of cleaning a silo by using a cleaning robot is appeared, the cleaning robot is adsorbed on the inner wall of the silo by utilizing negative pressure, and when adsorption failure occurs, the cleaning robot is easy to fall down to cause damage.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a robot with a safety mechanism, which solves the problem that a cleaning robot in the prior art is adsorbed on the inner wall of a silo by utilizing negative pressure, and the cleaning robot is easy to drop to cause damage when adsorption failure occurs.
A robot with a safety mechanism according to an embodiment of the present invention includes:
the cleaning robot is used for cleaning the inner wall of the silo to be cleaned;
the traction mechanism comprises a workbench, a first winding and unwinding rope assembly, a first guide rod, a second guide rod, an adjusting assembly and a traction rope, wherein the first winding and unwinding rope assembly is installed on the workbench, the upper end of the first guide rod is rotationally connected to the workbench, one end of the second guide rod is hinged to the lower end of the first guide rod, one end of the second guide rod, which is far away from the first guide rod, is provided with a wire guide, the wire guide is provided with a wire guide, the adjusting assembly is connected with the first guide rod and the second guide rod, the adjusting assembly is used for adjusting an included angle between the first guide rod and the second guide rod, one end of the traction rope is connected to the first winding and unwinding rope assembly, the other end of the traction rope penetrates through the wire guide and is connected with the cleaning robot, and the first winding and unwinding rope assembly is used for pulling the cleaning robot through the traction rope.
The robot with the safety mechanism has at least the following beneficial effects:
the silo is generally arranged in a circular shape, the workbench can be arranged in the middle of the upper part of the silo, the first guide rod stretches into the silo, the axial direction of the first guide rod is close to the axial direction of the silo, the second guide rod is positioned in the silo, one end, away from the first guide rod, of the second guide rod is close to the inner wall of the silo, and the wire guide piece is conveniently close to the cleaning robot. The first winding and unwinding rope assembly winds and unwinds the traction rope, pulls the cleaning robot and avoids the cleaning robot from falling off.
When the cleaning robot moves along the circumferential direction of the inner wall of the silo to clean, the second guide rod can be pulled to drive the second guide rod to rotate around the axial direction of the first guide rod; the adjusting component adjusts the included angle between the first guide rod and the second guide rod, drives the second guide rod to rotate around the hinge joint of the second guide rod and the first guide rod, enables the position of the wire guide piece in the height direction of the silo to change, and meets the requirement that the distance between the wire guide piece and the robot body is maintained in a safe range when the cleaning robot moves up and down along the inner wall of the silo for cleaning.
The cleaning robot breaks away from the silo inner wall, and cleaning robot's biggest movable range is for taking the wire spare as the center to in the haulage rope between the cleaning robot and the wire spare is radial sphere, because the distance between wire spare and the robot body is controllable, remains in safe scope throughout, makes cleaning robot rock less, is difficult for dropping or striking and causes the damage.
According to some embodiments of the invention, the adjusting assembly comprises a second winding and unwinding rope assembly and a lifting rope, the second winding and unwinding rope assembly is installed on the workbench, a first wire passing wheel is arranged in the middle of the first guide rod, one end of the lifting rope is connected to the second winding and unwinding rope assembly, the middle of the lifting rope is abutted to the first wire passing wheel, and the other end of the lifting rope is connected with one end, far away from the first guide rod, of the second guide rod.
According to some embodiments of the invention, the first and second rope retraction assemblies are self-locking manual winches or winches.
According to some embodiments of the invention, a second wire passing wheel is rotatably connected to the middle part of the first guide rod, and the middle part of the traction rope abuts against the second wire passing wheel.
According to some embodiments of the invention, the traction mechanism further comprises a bearing and a rotating frame, a first mounting hole is formed in the workbench, the bearing is mounted in the first mounting hole, the rotating frame is connected with an inner ring of the bearing, the upper end of the first guide rod is connected with the rotating frame, and a plurality of wire passing holes for the traction rope to pass through are formed in the rotating frame and the inner ring of the bearing in a surrounding mode.
According to some embodiments of the invention, the first guide rod comprises a plurality of first connecting rods and a plurality of first sleeves, the first sleeves are sleeved at one ends of the first connecting rods, and two adjacent first connecting rods are connected through the first sleeves;
the second guide rod comprises a plurality of second connecting rods and a plurality of second sleeves, the second sleeves are sleeved at one ends of the second connecting rods, and two adjacent second connecting rods are connected through the second sleeves.
According to some embodiments of the invention, the cleaning robot comprises:
the robot body is connected with the traction rope;
the negative pressure adsorption mechanism is arranged on the robot body and is used for generating negative pressure to adsorb the robot body on the wall surface to be cleaned;
the walking mechanism is arranged on the robot body and is used for driving the robot body to move;
the cleaning mechanism is arranged on the robot body and is used for cleaning the wall surface to be cleaned.
According to some embodiments of the invention, the walking mechanism comprises two walking components which are respectively arranged on the robot body along two sides of the width direction of the robot body, the walking components comprise a walking driving component, a driving wheel, a plurality of driven wheels and a crawler belt, the walking driving component is arranged on the robot body, the driving wheel is connected with the walking driving component, the walking driving component is used for driving the driving wheel to rotate, the driven wheels are rotatably connected to the robot body, and the crawler belt is sleeved on the driving wheel and the driven wheels.
According to some embodiments of the invention, the cleaning mechanism comprises a cleaning support, a cleaning driving assembly and a cleaning brush, one end of the cleaning support is installed on the robot body, the other end of the cleaning support extends along a direction away from the cleaning robot, the cleaning driving assembly is installed at one end of the cleaning support away from the robot body, the cleaning driving assembly is in transmission connection with the cleaning brush, and the cleaning driving assembly is used for driving the cleaning brush to rotate.
According to some embodiments of the invention, the cleaning support is mounted on the robot body at one end along the length direction of the robot body, the other end of the cleaning support extends along the length direction of the robot body and away from the robot body, and the walking driving assembly is mounted on the robot body at one end along the length direction of the robot body and away from the cleaning support.
According to some embodiments of the invention, the negative pressure adsorption mechanism comprises a negative pressure seat, a fan and a soft surrounding edge, a negative pressure cavity with an open lower end is arranged in the negative pressure seat, a second mounting hole communicated with the negative pressure cavity is arranged on the negative pressure seat, the fan is mounted at the second mounting hole, the soft surrounding edge is mounted at the edge of the lower end of the negative pressure seat, and the soft surrounding edge is used for increasing the tightness in the negative pressure cavity when abutting against a wall surface to be cleaned.
According to some embodiments of the invention, the cleaning robot further comprises a dust blowing mechanism, the dust blowing mechanism comprises a wind guide seat, the wind guide seat is installed on the robot body, a wind guide channel is arranged in the wind guide seat, a wind blowing port and a wind guide port which are communicated with the wind guide channel are arranged on the wind guide seat, the wind blowing port is positioned in front of the travelling mechanism along the advancing direction of the robot body, the wind guide port is arranged close to the fan, and the fan is used for extracting air of the negative pressure cavity, blowing the air to the wind guide port and spraying the air from the wind blowing port.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic structural diagram of a robot with a safety mechanism according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a traction mechanism of a robot with a safety mechanism according to an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2A;
FIG. 4 is an enlarged view of a portion of B in FIG. 2;
FIG. 5 is an enlarged view of a portion of C in FIG. 2;
FIG. 6 is a schematic diagram of a cleaning robot with a safety mechanism according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a cleaning robot with a safety mechanism according to a second embodiment of the present invention;
FIG. 8 is a cross-sectional view of a cleaning robot of a robot with a safety mechanism in accordance with an embodiment of the present invention;
FIG. 9 is a schematic structural view of a wind guiding seat of a robot with a safety mechanism according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a negative pressure seat of a robot with a safety mechanism according to an embodiment of the invention.
Reference numerals:
100. cleaning a robot; 110. a robot body;
120. a negative pressure adsorption mechanism; 121. a negative pressure seat; 1211. a negative pressure chamber; 1212. a second mounting hole; 1213. soft surrounding edges; 122. a blower;
130. a walking mechanism; 131. a travel drive assembly; 132. a driving wheel; 133. driven wheel; 134. a track;
140. a cleaning mechanism; 141. cleaning a bracket; 142. cleaning the driving assembly; 143. cleaning brushes;
150. a dust blowing mechanism; 151. an air guide seat; 1511. an air guide channel; 1512. an air blowing port; 1513. air guide port
200. A traction mechanism; 210. a work table; 220. a first rope winding and unwinding assembly; 230. a first guide bar; 231. a first connecting rod; 232. a first sleeve; 240. a second guide bar; 241. a second connecting rod; 242. a second sleeve; 250. an adjustment assembly; 251. a second rope winding and unwinding component; 252. lifting a rope; 253. the first wire passing wheel; 260. a traction rope; 261. the second wire passing wheel; 270. a wire member; 271. a wire guide; 280. a bearing; 290. a rotating frame; 291. and a wire through hole.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, 2 and 3, a robot with a safety mechanism according to an embodiment of the present invention includes a cleaning robot 100 and a traction mechanism 200, where the cleaning robot 100 is used to clean an inner wall of a silo to be cleaned. The traction mechanism 200 includes a table 210, a first pay-off and take-up assembly 220, a first guide bar 230, a second guide bar 240, an adjustment assembly 250, and a traction rope 260. The first winding and unwinding rope assembly 220 is installed on the working table 210, the upper end of the first guide rod 230 is rotatably connected to the working table 210, and one end of the second guide rod 240 is hinged to the lower end of the first guide rod 230. The second guide 240 is provided with a wire member 270 at an end thereof remote from the first guide 230, and a wire hole 271 is provided in the wire member 270. The adjusting assembly 250 is connected to the first guide 230 and the second guide 240, and the adjusting assembly 250 is used for adjusting an included angle between the first guide 230 and the second guide 240. One end of the traction rope 260 is connected to the first winding and unwinding rope assembly 220, the other end of the traction rope 260 passes through the wire hole 271 to be connected with the cleaning robot 100, and the first winding and unwinding rope assembly 220 is used for pulling the cleaning robot 100 through the traction rope 260.
The silo is generally circular, the workbench 210 can be arranged in the middle of the upper part of the silo, the first guide rod 230 stretches into the interior of the silo, the first guide rod 230 is axially arranged close to the interior of the silo, the second guide rod 240 is positioned in the interior of the silo, and one end, away from the first guide rod 230, of the second guide rod 240 is close to the inner wall of the silo, so that the wire guide member 270 is conveniently close to the cleaning robot 100. The first winding and unwinding rope assembly 220 winds and unwinds the traction rope 260 to pull the cleaning robot 100, so that the cleaning robot 100 is prevented from falling.
When the cleaning robot 100 moves along the circumferential direction of the inner wall of the silo to clean, the second guide rod 240 can be pulled to drive the second guide rod 240 to rotate around the axial direction of the first guide rod 230; the adjusting component 250 adjusts the included angle between the first guide rod 230 and the second guide rod 240, and drives the second guide rod 240 to rotate around the hinge joint of the second guide rod 240 and the first guide rod 230, so that the position of the wire member 270 along the height direction of the silo changes, and the distance between the wire member 270 and the robot body 110 can be maintained in a safe range when the cleaning robot 100 moves up and down along the inner wall of the silo for cleaning.
The cleaning robot 100 is separated from the inner wall of the silo, the maximum movable range of the cleaning robot 100 is a sphere with the wire member 270 as the center and the traction rope 260 between the cleaning robot 100 and the wire member 270 as the radius, and the distance between the wire member 270 and the robot body 110 is controllable and always maintained in a safe range, so that the cleaning robot 100 shakes less and is not easy to drop or collide to cause damage.
In some embodiments, referring to fig. 1, 2, 3, and 4, the adjustment assembly 250 includes a second retraction cord assembly 251 and a lift cord 252, the second retraction cord assembly 251 being mounted on the table 210. The middle part of the first guide rod 230 is provided with a first wire passing wheel 253, and the first wire passing wheel 253 is rotatably connected to the first guide rod 230. One end of the lifting rope 252 is connected to the second winding and unwinding rope assembly 251, the middle part of the lifting rope 252 is abutted against the first wire passing wheel 253, and the other end of the lifting rope 252 is connected with one end, far away from the first guide rod 230, of the second guide rod 240. The first wire passing wheel 253 can guide the lifting rope 252, so that the lifting rope 252 is prevented from rubbing the workbench 210. The second winding and unwinding rope assembly 251 winds the first wire passing wheel 253, pulls one end of the second guide rod 240 far away from the first guide rod 230, so that the second guide rod 240 can rotate around a hinge point of the second guide rod 240 and the first guide rod 230, and further adjusts an included angle between the first guide rod 230 and the second guide rod 240, so that the position of one end of the second guide rod 240 far away from the first guide rod 230 along the silo height direction changes. The wire member 270 is installed at one end of the second guide rod 240 far away from the first guide rod 230, so that the position of the wire member 270 in the height direction of the silo can be changed when the lifting rope 252 pulls the second guide rod 240, and the distance between the wire member 270 and the robot body 110 can be maintained in a safe range when the cleaning robot 100 moves up and down along the inner wall of the silo for cleaning.
In some embodiments, referring to fig. 1, 2 and 3, the first rope winding and unwinding assembly 220 and the second rope winding and unwinding assembly 251 are self-locking manual winches, which are manually operated and are convenient to operate. The first winding and unwinding rope assembly 220 and the second winding and unwinding rope assembly 251 can also be winches, and are automatic in operation and convenient to control.
In some embodiments, referring to fig. 1, 2, 3 and 4, the middle part of the first guide rod 230 is further rotatably connected with a second wire passing wheel 261, and the middle part of the traction rope 260 abuts against the second wire passing wheel 261, and the second wire passing wheel 261 can guide the traction rope 260, so that the traction rope 260 is prevented from rubbing the workbench 210.
In some embodiments, referring to fig. 1, 2, 3, 4, and 5, the traction mechanism 200 further includes a bearing 280 and a turret 290, the table 210 is provided with a first mounting hole, the bearing 280 is mounted in the first mounting hole, and the turret 290 is connected with an inner ring of the bearing 280. The upper end of the first guide rod 230 is connected with a rotating frame 290, the rotating frame 290 and the inner ring of the bearing 280 are surrounded to form a plurality of wire passing holes 291, and the plurality of wire passing holes 291 are used for allowing the traction rope 260 to pass through. The rotating frame 290 is of a cross structure, stable in structure and convenient to install. The rotating frame 290 is connected with the inner ring of the bearing 280 through bolts, and the connection is stable. The bearing 280 is arranged between the rotating frame 290 and the workbench 210, so that the rotating frame 290 rotates more stably relative to the workbench 210, and the upper end of the first guide rod 230 is arranged on the rotating frame 290, so that the first guide rod 230 rotates more stably.
In some embodiments, referring to fig. 1, 2 and 4, the first guide 230 includes a plurality of first connecting rods 231 and a plurality of first bushings 232, the first bushings 232 are sleeved at one ends of the first connecting rods 231, and two adjacent first connecting rods 231 are connected by the first bushings 232. The plurality of first connecting rods 231 can be spliced into first guide rods 230 with different lengths so as to meet the requirements of vertical silos with different heights.
The second guide rod 240 includes a plurality of second connection rods 241 and a plurality of second bushings 242, the second bushings 242 are sleeved at one ends of the second connection rods 241, and two adjacent second connection rods 241 are connected through the second bushings 242. The plurality of second connecting rods 241 can be spliced into second guide rods 240 with different lengths to meet the requirements of vertical silos with different diameters.
In some embodiments, referring to fig. 1, 6 and 7, the cleaning robot 100 includes a robot body 110, a negative pressure suction mechanism 120, a traveling mechanism 130 and a cleaning mechanism 140, the robot body 110 being connected to a traction rope 260. The negative pressure adsorption mechanism 120 is installed on the robot body 110, and the negative pressure adsorption mechanism 120 is used for generating negative pressure to adsorb the robot body 110 on the wall surface to be cleaned. The travelling mechanism 130 is mounted on the robot body 110, and the travelling mechanism 130 is used for driving the robot body 110 to move. The cleaning mechanism 140 is mounted on the robot body 110, and the cleaning mechanism 140 is used for cleaning the wall surface to be cleaned.
A negative pressure adsorption mechanism 120 is arranged to drive the robot body 110 to adsorb on the wall surface to be cleaned, and a travelling mechanism 130 drives the robot body 110 to move; the cleaning mechanism 140 is used for cleaning the wall surface to be cleaned, has a compact and stable structure, is convenient to clean, does not need manual cleaning, and can reduce potential safety hazards.
In some embodiments, referring to fig. 1, 6 and 7, the traveling mechanism 130 includes two traveling assemblies that are respectively mounted on both sides of the robot body 110 in the width direction of the robot body 110. The walking assembly comprises a walking driving assembly 131, a driving wheel 132, a plurality of driven wheels 133 and a crawler 134, wherein the walking driving assembly 131 is arranged on the robot body 110, the driving wheel 132 is connected with the walking driving assembly 131, the walking driving assembly 131 is used for driving the driving wheel 132 to rotate, the driven wheels 133 are rotationally connected to the robot body 110, and the crawler 134 is sleeved on the driving wheel 132 and the driven wheels 133. The travel drive assembly 131 may be an electric motor or an air motor. The driving wheel 132 is provided with a plurality of tooth-shaped bulges, the crawler 134 is provided with a plurality of tooth grooves, the tooth-shaped bulges are meshed in the tooth grooves, the walking driving assembly 131 drives the driving wheel 132 to rotate and drives the crawler 134 to rotate, the driven wheel 133 is driven to rotate, the driven wheel 133 can support the crawler 134, and the crawler 134 is ensured to stably advance. The two groups of walking components are respectively arranged at two sides of the robot body 110, so that the robot body 110 moves stably.
In some embodiments, referring to fig. 1, 6 and 7, cleaning mechanism 140 includes a cleaning support 141, a cleaning drive assembly 142 and a cleaning brush 143. One end of the cleaning support 141 is mounted on the robot body 110, and the other end of the cleaning support 141 is extended in a direction away from the cleaning robot 100. The cleaning driving assembly 142 is installed at one end of the cleaning support 141 far away from the robot body 110, the cleaning driving assembly 142 is in transmission connection with the cleaning brush 143, and the cleaning driving assembly 142 is used for driving the cleaning brush 143 to rotate. The cleaning drive assembly 142 may be a drive motor or a pneumatic motor. The cleaning driving assembly 142 drives the cleaning brush 143 to rotate, and the cleaning brush 143 sweeps down hardened materials on the inner wall of the silo.
The cleaning brush 143 is a cleaning disc brush. The middle of cleaning disc brush is the disc, conveniently is connected with cleaning drive assembly 142, and the disc week side is provided with the brush for cleaning brush 143 sweeps the scope great, and cleaning drive assembly 142 drives cleaning brush 143 when rotating, and the brush of disc week side rotates around the disc center, and cleaning brush 143 sweeps steadily.
In some embodiments, referring to fig. 1, 6 and 7, the cleaning support 141 is mounted on the robot body 110 at one end along the length direction of the robot body 110, and the other end of the cleaning support 141 extends along the length direction of the robot body 110 and away from the robot body 110. The traveling driving assembly 131 is installed on the robot body 110 along a length direction of the robot body 110 and away from one end of the cleaning bracket 141. The cleaning support 141 is installed in the front of the robot body 110 along the advancing direction, and the walking driving assembly 131 is installed in the rear of the robot body 110 along the advancing direction, so that the stress balance of the two ends of the robot body 110 along the length direction can be ensured, the gravity center of the cleaning robot 100 can be ensured to be positioned on the robot body 110, and the cleaning robot 100 is ensured to move stably.
In some embodiments, referring to fig. 6, 8, and 10, the negative pressure suction mechanism 120 includes a negative pressure seat 121, a blower 122, and a soft peripheral edge 1213. The negative pressure seat 121 is internally provided with a negative pressure cavity 1211 with an open lower end, the negative pressure seat 121 is provided with a second mounting hole 1212 communicated with the negative pressure cavity 1211, and the fan 122 is mounted at the second mounting hole 1212. The soft surrounding edge 1213 is installed at the lower end edge of the negative pressure seat 121, and the soft surrounding edge 1213 is used for increasing the tightness in the negative pressure cavity 1211 when abutting against the wall surface to be cleaned. When the fan 122 works, air in the negative pressure cavity 1211 is pumped out, so that negative pressure is generated at the lower end of the negative pressure seat 121, and the negative pressure adsorption mechanism 120 can adsorb the robot body 110 on the wall surface to be cleaned. The soft surrounding edge 1213 is arranged at the edge of the lower end of the negative pressure seat 121, the soft surrounding edge 1213 can be moderately deformed to be always attached to the inner wall of the silo, for example, when the soft surrounding edge 1213 moves along the inner wall of the silo with an arc surface, two ends of the soft surrounding edge 1213 along the advancing direction can be extruded and contracted, the middle part of the soft surrounding edge 1213 along the advancing direction protrudes, the tightness of the negative pressure cavity 1211 is further ensured, and the adsorption stability of the negative pressure adsorption mechanism 120 is further ensured.
In some embodiments, referring to fig. 6, 7, 8, 9 and 10, the cleaning robot 100 further includes a dust blowing mechanism 150, the dust blowing mechanism 150 includes an air guiding seat 151, the air guiding seat 151 is mounted on the robot body 110, an air guiding channel 1511 is disposed inside the air guiding seat 151, an air blowing opening 1512 and an air guiding opening 1513 communicating with the air guiding channel 1511 are disposed on the air guiding seat 151, the air blowing opening 1512 is located in front of the travelling mechanism 130 along the travelling direction of the robot body 110, the air guiding opening 1513 is disposed near the fan 122, and the fan 122 is used for extracting air of the negative pressure cavity 1211 and blowing the air to the air guiding opening 1513 and spraying from the air blowing opening 1512.
When the cleaning brush 143 sweeps, there is also the dust to be swept to the place ahead of negative pressure adsorption mechanism 120 along the direction of advance, can influence the adsorption stability of negative pressure adsorption mechanism 120, sets up and blows the dirt subassembly, can blow away the dust of adsorption mechanism along the place ahead of the direction of advance of robot body 110, ensures the adsorption stability of negative pressure adsorption mechanism 120.
The blowing assembly blows air into the air guide port 1513, passes through the air guide channel 1511, blows along the air blowing port 1512, blows away dust in front of the suction mechanism along the advancing direction of the robot body 110, and ensures the suction stability of the negative pressure suction mechanism 120.
When the blower 122 works, air in the negative pressure cavity 1211 is extracted, blown out along one end of the blower 122 away from the negative pressure cavity 1211, blown into the air guide channel 1511 along the air guide port 1513, and blown out along the air blowing port 1512, so that dust in front of the suction mechanism along the advancing direction of the robot body 110 can be blown away, and the suction stability of the negative pressure suction mechanism 120 is ensured. The fan 122 can generate negative pressure in the negative pressure cavity 1211, so that the negative pressure adsorption mechanism 120 can adsorb the robot body 110 on the inner wall of the silo, and can blow off dust in front of the negative pressure adsorption mechanism 120, thereby guaranteeing the adsorption stability of the negative pressure adsorption mechanism 120.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A robot having a safety mechanism, comprising:
the cleaning robot is used for cleaning the inner wall of the silo to be cleaned;
the traction mechanism comprises a workbench, a first winding and unwinding rope assembly, a first guide rod, a second guide rod, an adjusting assembly and a traction rope, wherein the first winding and unwinding rope assembly is installed on the workbench, the upper end of the first guide rod is rotationally connected to the workbench, one end of the second guide rod is hinged to the lower end of the first guide rod, one end of the second guide rod, which is far away from the first guide rod, is provided with a wire guide, the wire guide is provided with a wire guide, the adjusting assembly is connected with the first guide rod and the second guide rod, the adjusting assembly is used for adjusting an included angle between the first guide rod and the second guide rod, one end of the traction rope is connected to the first winding and unwinding rope assembly, the other end of the traction rope penetrates through the wire guide and is connected with the cleaning robot, and the first winding and unwinding rope assembly is used for pulling the cleaning robot through the traction rope.
2. The robot with a safety mechanism according to claim 1, wherein the adjusting assembly comprises a second winding and unwinding rope assembly and a lifting rope, the second winding and unwinding rope assembly is mounted on the workbench, a first wire passing wheel is arranged at the middle part of the first guide rod, one end of the lifting rope is connected to the second winding and unwinding rope assembly, the middle part of the lifting rope is abutted to the first wire passing wheel, and the other end of the lifting rope is connected with one end of the second guide rod far away from the first guide rod.
3. The robot with a safety mechanism according to claim 1, wherein the traction mechanism further comprises a bearing and a rotating frame, the workbench is provided with a first mounting hole, the bearing is mounted in the first mounting hole, the rotating frame is connected with an inner ring of the bearing, the upper end of the first guide rod is connected with the rotating frame, and a plurality of wire passing holes for the traction rope to pass through are formed in the rotating frame and the inner ring of the bearing in a surrounding mode.
4. The robot with a safety mechanism according to claim 1, wherein the first guide rod comprises a plurality of first connecting rods and a plurality of first sleeves, the first sleeves are sleeved at one ends of the first connecting rods, and two adjacent first connecting rods are connected through the first sleeves;
the second guide rod comprises a plurality of second connecting rods and a plurality of second sleeves, the second sleeves are sleeved at one ends of the second connecting rods, and two adjacent second connecting rods are connected through the second sleeves.
5. A robot with a safety mechanism according to claim 1, characterized in that the cleaning robot comprises:
the robot body is connected with the traction rope;
the negative pressure adsorption mechanism is arranged on the robot body and is used for generating negative pressure to adsorb the robot body on the wall surface to be cleaned;
the walking mechanism is arranged on the robot body and is used for driving the robot body to move;
the cleaning mechanism is installed on the robot body and used for cleaning the wall surface to be cleaned.
6. The robot with a safety mechanism according to claim 5, wherein the traveling mechanism comprises two traveling assemblies which are respectively installed on the robot body along two sides of the width direction of the robot body, the traveling assemblies comprise traveling driving assemblies, driving wheels, a plurality of driven wheels and tracks, the traveling driving assemblies are installed on the robot body, the driving wheels are connected with the traveling driving assemblies, the traveling driving assemblies are used for driving the driving wheels to rotate, the driven wheels are rotatably connected to the robot body, and the tracks are sleeved on the driving wheels and the driven wheels.
7. The robot with safety mechanism according to claim 6, wherein the cleaning mechanism comprises a cleaning support, a cleaning driving assembly and a cleaning brush, one end of the cleaning support is mounted on the robot body, the other end of the cleaning support extends away from the cleaning robot, the cleaning driving assembly is mounted at one end of the cleaning support away from the robot body, the cleaning driving assembly is in transmission connection with the cleaning brush, and the cleaning driving assembly is used for driving the cleaning brush to rotate.
8. The robot with safety mechanism according to claim 7, wherein the cleaning support is mounted on the robot body at one end along a length direction of the robot body, the other end of the cleaning support extends along the length direction of the robot body and away from the direction of the robot body, and the traveling driving assembly is mounted on the robot body at one end along the length direction of the robot body and away from the cleaning support.
9. The robot with safety mechanism according to claim 5, wherein the negative pressure adsorption mechanism comprises a negative pressure seat, a fan and a soft surrounding edge, a negative pressure cavity with an open lower end is arranged in the negative pressure seat, a second mounting hole communicated with the negative pressure cavity is formed in the negative pressure seat, the fan is mounted at the second mounting hole, the soft surrounding edge is mounted at the edge of the lower end of the negative pressure seat, and the soft surrounding edge is used for increasing the tightness in the negative pressure cavity when abutting against a wall surface to be cleaned.
10. The robot with a safety mechanism according to claim 9, wherein the cleaning robot further comprises a dust blowing mechanism, the dust blowing mechanism comprises an air guide seat, the air guide seat is installed on the robot body, an air guide channel is arranged inside the air guide seat, an air blowing port and an air guide port which are communicated with the air guide channel are arranged on the air guide seat, the air blowing port is located in front of the travelling mechanism along the advancing direction of the robot body, the air guide port is arranged close to the fan, and the fan is used for extracting air of the negative pressure cavity, blowing the air to the air guide port and spraying the air from the air blowing port.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410179769.8A CN117718987B (en) | 2024-02-18 | 2024-02-18 | Robot with safety mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410179769.8A CN117718987B (en) | 2024-02-18 | 2024-02-18 | Robot with safety mechanism |
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| CN117718987A true CN117718987A (en) | 2024-03-19 |
| CN117718987B CN117718987B (en) | 2024-04-19 |
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| CN117718987B (en) | 2024-04-19 |
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