CN117841017A - Integral robot - Google Patents
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- CN117841017A CN117841017A CN202410044033.XA CN202410044033A CN117841017A CN 117841017 A CN117841017 A CN 117841017A CN 202410044033 A CN202410044033 A CN 202410044033A CN 117841017 A CN117841017 A CN 117841017A
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- 238000004140 cleaning Methods 0.000 claims abstract description 163
- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 238000001179 sorption measurement Methods 0.000 claims abstract description 56
- 230000007306 turnover Effects 0.000 claims abstract description 20
- 238000007664 blowing Methods 0.000 claims description 38
- 239000000428 dust Substances 0.000 claims description 29
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005507 spraying Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 description 13
- 238000004891 communication Methods 0.000 description 8
- 230000010405 clearance mechanism Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 206010010904 Convulsion Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention discloses an integral robot which comprises a robot body, a negative pressure adsorption mechanism, a traveling mechanism and a cleaning mechanism, wherein the negative pressure adsorption mechanism is used for generating negative pressure to adsorb the robot body on a wall surface to be cleaned, the traveling mechanism is used for driving the robot body to move, the cleaning mechanism comprises a turnover assembly, a cleaning support and a cleaning assembly for cleaning the wall surface to be cleaned, the turnover assembly is arranged on the robot body, one end of the cleaning support is rotationally connected to the robot body, the cleaning assembly is arranged at the other end of the cleaning support, the turnover assembly is used for driving the cleaning support to rotate so as to enable the cleaning mechanism to be switched between a cleaning state and a storage state, and when the cleaning mechanism is in the cleaning state, the other end of the cleaning support extends out along the advancing direction of the robot body; when the cleaning mechanism is in a storage state, the cleaning support is located above the robot body. The integral robot has stable negative pressure adsorption structure, gives consideration to obstacle crossing function and has high reliability.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to an integral robot.
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. The mode that uses clearance robot to clear up to the silo has appeared among the prior art, and a clearance robot utilizes the negative pressure to adsorb on the silo inner wall, can influence absorptive stability when adsorbing the face and have more dust, and clearance mechanism generally fixes the setting in robot body the place ahead, and when the big obstacle appears in the place ahead, clearance mechanism contradicts the obstacle, and the robot is difficult for crossing the obstacle for clearance robot's reliability is relatively poor.
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 the integral robot, which solves the problems that in the cleaning robot in the prior art, when more dust exists on an adsorption surface, the adsorption stability is affected, a cleaning mechanism is generally fixedly arranged in front of a robot body, and when a massive obstacle appears in front, the cleaning mechanism collides with the obstacle, the robot is not easy to cross the obstacle, and the reliability of the cleaning robot is poor.
According to an embodiment of the present invention, an integrated robot includes:
a robot body;
the negative pressure adsorption mechanism is arranged below 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 comprises a turnover assembly, a cleaning support and a cleaning assembly, wherein the turnover assembly is installed on the robot body, one end of the cleaning support is rotationally connected to the robot body, the cleaning assembly is installed at the other end of the cleaning support, the cleaning assembly is used for cleaning a wall surface to be cleaned, the turnover assembly is in transmission connection with the turnover support, the turnover assembly is used for driving the cleaning support to rotate so as to enable the cleaning assembly to be switched between a cleaning state and a storage state, and when the cleaning assembly is in the cleaning state, the other end of the cleaning support extends out along the advancing direction of the robot body; when the cleaning assembly is in a storage state, the cleaning support and the cleaning assembly are located above the robot body.
The integral robot provided by the embodiment of the invention has at least the following beneficial effects:
a negative pressure adsorption mechanism is arranged to drive the robot body to adsorb on the wall surface to be cleaned, and a travelling mechanism drives the robot body to move; the overturning assembly can drive the cleaning support to overturn to extend along the advancing direction of the robot body, so that the cleaning mechanism is in a cleaning state, and the cleaning assembly is positioned at one end of the cleaning support far away from the robot body, so that the cleaning assembly can clean the wall surface of the negative pressure adsorption mechanism in front of the advancing direction of the robot body; the cleaning component can clean hardened materials, and meanwhile can clean dust in an area to be adsorbed in the advancing direction, so that when the dust moves to the area to be adsorbed subsequently, the influence of the dust on the negative pressure adsorption mechanism is reduced, and the negative pressure adsorption structure is ensured to be adsorbed stably; the overturning assembly can drive the cleaning support to overturn above the robot body, so that the cleaning mechanism is in a storage state, the cleaning mechanism can be prevented from abutting against a front obstacle (such as climbing from the bottom wall of the silo to the side wall of the silo), and the cleaning mechanism is convenient to cooperate with the negative pressure adsorption mechanism to climb over the obstacle; the integral robot is stable in adsorption, has obstacle crossing function, and is stable in walking, so that the reliability of the integral robot is high.
According to some embodiments of the invention, the negative pressure adsorption mechanism comprises a negative pressure seat and a fan, wherein a negative pressure cavity with an open lower end is arranged in the negative pressure seat, a mounting hole communicated with the negative pressure cavity is arranged on the negative pressure seat, the fan is arranged in the mounting hole in a penetrating manner, and the fan is used for extracting air in the negative pressure cavity so that negative pressure is generated at the lower end of the negative pressure seat to adsorb the robot body on a wall surface to be cleaned.
According to some embodiments of the invention, a soft surrounding edge is arranged at the lower end edge of the negative pressure seat, and the soft surrounding edge is used for increasing the tightness in the negative pressure cavity when abutting against the wall surface to be cleaned.
According to some embodiments of the invention, the integral robot further comprises a dust blowing mechanism, the dust blowing mechanism comprises an air guide seat and an air blowing assembly, the air guide seat is arranged on the robot body, an air guide channel is arranged in the air guide seat, an air blowing opening and an air guide opening which are communicated with the air guide channel are arranged on the air guide seat, the air blowing opening is positioned in front of the travelling mechanism along the advancing direction of the robot body, the air blowing assembly is arranged close to the air guide opening, and the air blowing assembly is used for blowing air to the air guide opening and spraying the air from the air blowing opening.
According to some embodiments of the invention, the air guiding seat is arranged close to the negative pressure seat, and the air blowing component is the fan.
According to some embodiments of the invention, the air guide channel comprises an air inlet section and an air outlet section which are communicated, the air inlet section is communicated with the air guide opening, the air outlet opening is communicated to the lower end of the air outlet section, and the air outlet section is gradually far away from the robot body along the downward direction.
According to some embodiments of the invention, the unitary robot further comprises a vision mechanism comprising a camera mounted on the robot body.
The camera is installed the front end of robot body direction of advance, and with the upset subassembly staggers the setting.
The robot is characterized in that a circuit control system is arranged inside the robot body and is electrically connected with the camera, the circuit control system comprises a control circuit board, a wireless communication module is arranged on the control circuit board, and the wireless communication module is in wireless communication with external equipment.
The robot is characterized in that a battery is arranged in the robot body and is electrically connected with the circuit control system.
The circuit control system is electrically connected with the negative pressure adsorption mechanism, the cleaning assembly and the overturning assembly.
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 travel drive assembly is mounted on the robot body at a rear end in a forward direction of the robot body.
According to some embodiments of the invention, the flipping assembly is a flipping motor or a rotating cylinder.
According to some embodiments of the invention, the cleaning assembly comprises a cleaning driving assembly and a cleaning brush, the cleaning driving assembly is arranged at one end of the cleaning support far 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 brush is a cleaning disc brush.
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 view of a cleaning mechanism in an integrated robot in a cleaning state;
fig. 2 is a schematic diagram of a second structure of the integral robot in which the cleaning mechanism is in a cleaning state;
FIG. 3 is a cross-sectional view of a cleaning mechanism in an integrated robot in accordance with an embodiment of the present invention in a cleaning state;
fig. 4 is a schematic structural view of a negative pressure seat of an integrated robot according to an embodiment of the present invention;
fig. 5 is a schematic structural view of an air guiding seat of an integrated robot according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of an air guiding seat of an integrated robot according to an embodiment of the present invention;
FIG. 7 is a schematic view of a cleaning mechanism in an integrated robot in a storage state according to an embodiment of the present invention;
reference numerals:
100. a robot body;
200. a negative pressure adsorption mechanism; 210. a negative pressure seat; 211. a negative pressure chamber; 212. a mounting hole; 213. soft surrounding edges; 220. a blower;
300. a walking mechanism; 310. a travel drive assembly; 320. a driving wheel; 330. driven wheel; 340. a track;
400. a cleaning mechanism; 410. a flip assembly; 420. cleaning a bracket; 430. cleaning the assembly; 431. cleaning the driving assembly; 432. cleaning brushes;
500. a dust blowing mechanism; 510. an air guide seat; 511. an air guide channel; 5111. an air inlet section; 5112. an air outlet section; 512. an air blowing port; 513. an air guide port;
600. a vision mechanism; 610. a camera;
700. a circuit control system; 710. and a control circuit board.
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 7, an integrated robot according to an embodiment of the present invention includes a robot body 100, a negative pressure suction mechanism 200, a traveling mechanism 300 and a cleaning mechanism 400. The negative pressure adsorption mechanism 200 is installed below the robot body 100 (below the thickness direction of the robot body 100 when the integrated robot is placed on the ground), and the negative pressure adsorption mechanism 200 is used for generating negative pressure to adsorb the robot body 100 on the wall surface to be cleaned. The walking mechanism 300 is installed on the robot body 100, and the walking mechanism 300 is used for driving the robot body 100 to move. Cleaning mechanism 400 includes a flip assembly 410, a cleaning support 420, and a cleaning assembly 430. The turnover assembly 410 is installed on the robot body 100, one end of the cleaning support 420 is rotatably connected to the robot body 100, the cleaning assembly 430 is installed at the other end of the cleaning support 420, and the cleaning assembly 430 is used for cleaning a wall surface to be cleaned. The turning component 410 is in transmission connection with the cleaning support 420, and the turning component 410 is used for driving the cleaning support 420 to rotate, so that the cleaning component 430 is switched between a cleaning state and a storage state. When the cleaning assembly 430 is in the cleaning state, the other end of the cleaning support 420 protrudes in the advancing direction of the robot body 100; when the cleaning assembly 430 is in the accommodated state, the cleaning bracket 420 and the cleaning assembly 430 are located above the robot body 100 (above in the thickness direction of the robot body 100 when the integrated robot is placed on the ground).
The negative pressure adsorption mechanism 200 is arranged to drive the robot body 100 to adsorb on the wall surface to be cleaned, and the walking mechanism 300 drives the robot body 100 to move; the overturning assembly 410 can drive the cleaning support 420 to overturn to extend along the advancing direction of the robot body 100, so that the cleaning mechanism 400 is in a cleaning state, and the cleaning assembly 430 is located at one end of the cleaning support 420 away from the robot body 100, so that the cleaning assembly 430 can clean the wall surface of the negative pressure adsorption mechanism 200 in front of the advancing direction of the robot body 100. The cleaning component 430 can clean hardened materials, and meanwhile can clean dust in an area to be adsorbed in the advancing direction, so that the influence of the dust on the negative pressure adsorption mechanism 200 is reduced when the dust is guaranteed to move to the area to be adsorbed, and the adsorption stability of the negative pressure adsorption structure is guaranteed.
The overturning assembly 410 can drive the cleaning support 420 to overturn above the robot body 100, so that the cleaning mechanism 400 is in a storage state, the cleaning mechanism 400 can be prevented from abutting against a front obstacle (such as climbing from the bottom wall of the silo to the side wall of the silo), and the traveling mechanism 300 can conveniently cooperate with the negative pressure adsorption mechanism 200 to climb over the obstacle; the integral robot is stable in adsorption, has obstacle crossing function, and is stable in walking, so that the reliability of the integral robot is high.
In some embodiments, referring to fig. 1, 2, 3 and 4, the negative pressure adsorption mechanism 200 includes a negative pressure seat 210 and a fan 220, a negative pressure cavity 211 is disposed in the negative pressure seat 210, and a lower end of the negative pressure cavity 211 is disposed in an open manner. The negative pressure seat 210 is provided with a mounting hole 212, the mounting hole 212 is communicated with the negative pressure cavity 211, the fan 220 is arranged in the mounting hole 212 in a penetrating mode, and the fan 220 is arranged at the mounting hole 212. When the fan 220 works, air in the negative pressure cavity 211 is pumped out, so that negative pressure is generated at the lower end of the negative pressure seat 210, and the negative pressure adsorption mechanism 200 can adsorb the robot body 100 on the wall surface to be cleaned.
In some embodiments, referring to fig. 1, 2, 3 and 4, the lower edge of the negative pressure seat 210 is provided with a soft surrounding edge 213, and the soft surrounding edge 213 is used to increase the tightness in the negative pressure cavity 211 when abutting against the wall surface to be cleaned. The soft surrounding edge 213 is arranged at the edge of the lower end of the negative pressure seat 210, the soft surrounding edge 213 can be moderately deformed to be always attached to the inner wall of the silo, for example, when the inner wall of the silo along an arc surface moves, the two ends of the soft surrounding edge 213 along the advancing direction can be extruded and contracted, the middle part of the soft surrounding edge 213 along the advancing direction protrudes, the tightness of the negative pressure cavity 211 is further ensured, and the adsorption stability of the negative pressure adsorption mechanism 200 is ensured.
In some embodiments, referring to fig. 2, 3, 4 and 5, the integrated robot further includes a dust blowing mechanism 500, the dust blowing mechanism 500 being mounted on the robot body 100, the dust blowing mechanism 500 being used to blow clean a wall surface of the negative pressure suction mechanism 200 in front of the advancing direction of the robot body 100. When the cleaning brush 432 sweeps, dust is also swept to the front side of the negative pressure adsorption mechanism 200 along the advancing direction, the adsorption stability of the negative pressure adsorption mechanism 200 is affected, and the dust blowing mechanism 500 is provided, so that dust in the front side of the adsorption mechanism along the advancing direction of the robot body 100 can be blown away, and the adsorption stability of the negative pressure adsorption mechanism 200 is ensured.
The dust blowing mechanism 500 comprises an air guide seat 510 and an air blowing assembly, wherein the air guide seat 510 is installed on the robot body 100, and an air guide channel 511 is arranged inside the air guide seat 510. The air guide seat 510 is provided with an air blowing port 512 and an air guide port 513, and the air blowing port 512 and the air guide port 513 are communicated with the air guide channel 511. The air blowing port 512 is located in front of the traveling mechanism 300 in the advancing direction of the robot body 100, and an air blowing assembly is provided near the air guiding port 513, the air blowing assembly being for blowing air toward the air guiding port 513 and out of the air blowing port 512. The blowing assembly blows out air into the air guide opening 513, blows out along the air guide opening 512 through the air guide channel 511, blows away dust in front of the suction mechanism along the advancing direction of the robot body 100, and ensures the suction stability of the negative pressure suction mechanism 200.
In some embodiments, referring to fig. 2, 3, 4 and 5, the air guiding seat 510 is disposed near the negative pressure seat 210, and the air blowing component is a blower 220. When the blower 220 works, air in the negative pressure cavity 211 is extracted, blown out along one end of the blower 220 away from the negative pressure cavity 211, blown into the air guide channel 511 along the air guide opening 513, and blown out along the air blowing opening 512, so that dust in front of the adsorption mechanism along the advancing direction of the robot body 100 can be blown away, and the adsorption stability of the negative pressure adsorption mechanism 200 is ensured. The fan 220 can generate negative pressure in the negative pressure cavity 211, so that the negative pressure adsorption mechanism 200 can adsorb the robot body 100 on the inner wall of the silo, and can blow off dust in front of the negative pressure adsorption mechanism 200 by using blown gas, thereby guaranteeing the adsorption stability of the negative pressure adsorption mechanism 200.
The air blown by the fan 220 of the negative pressure adsorption mechanism 200 is utilized to purge dust in the advancing direction of the robot body 100, so that the negative pressure adsorption mechanism 200 is ensured to be adsorbed stably.
The negative pressure cavity 211 is stretched into to the convulsions end of fan 220, and the air-out end of fan 220 is close to wind guiding seat 510 setting, and the air-out end of fan 220 sets up with wind guiding seat 510 interval so that the wind that fan 220 blown out can not all blow in wind-guiding passageway 511, avoids the amount of wind that blows out from blow-out mouth 512 too big, and then forms too big recoil, influences the adsorption stability of negative pressure adsorption equipment 200.
When the travelling mechanism 300 is abutted against the inner wall of the silo, the position of the air outlet on the air guide seat 510 is spaced a certain distance from the inner wall of the silo, the air outlet blows out air to form an air wall, the dust grid in the advancing direction of the negative pressure adsorption mechanism 200 is blocked (the dust cleaned by the cleaning assembly 430), the influence of the dust on the negative pressure adsorption mechanism 200 is reduced, and the adsorption stability of the negative pressure adsorption structure is ensured.
In some embodiments, referring to fig. 3, 4, 5 and 6, the air guiding channel 511 includes an air inlet section 5111 and an air outlet section 5112, which are connected, the air inlet section 5111 is connected to the air guiding opening 513, the air outlet opening 512 is connected to the lower end of the air outlet section 5112, and the air outlet section 5112 is gradually far away from the robot body 100 in a downward direction (downward along the thickness direction of the robot body 100 when the integral robot is placed on the ground). The air outlet section 5112 is obliquely arranged relative to the thickness direction of the robot body 100, so that the air blown out along the air outlet is also oblique and is blown out in the direction away from the robot body 100, dust in the advancing direction of the negative pressure adsorption mechanism 200 is blown away, the influence of the dust on the negative pressure adsorption mechanism 200 is reduced, and the adsorption stability of the negative pressure adsorption structure is ensured.
In some embodiments, referring to fig. 1, 2 and 7, the unitary robot further includes a vision mechanism 600, the vision mechanism 600 including a camera 610, the camera 610 being mounted on the robot body 100. The camera 610 can rotate 360 degrees, and the surrounding environment of the integral robot is photographed in real time. The camera 610 can monitor the working environment and working condition of the integral robot in real time, can facilitate interaction between the integral robot and the outside, and can improve the operation reliability of the integral robot. The camera 610 is mounted at the front end of the robot body 100 along the advancing direction, and is staggered with respect to the turning component 410. The camera 610 is positioned in front of the machine body, so that the visual field is wider, and the condition of cleaning the inner wall of the silo of the integral robot can be monitored conveniently in real time.
The robot body 100 is further provided with a circuit control system 700, and the circuit control system 700 is electrically connected with the camera 610. The circuit control system 700 includes a control circuit board 710. The control circuit board 710 is provided with a wireless communication module, the wireless communication module is in butt joint with external equipment for wireless communication, the camera 610 is used for shooting the surrounding environment of the integral robot, and the camera is transmitted to the outside through the wireless communication module, so that workers can observe the working condition of the integral robot conveniently.
The robot body 100 is internally provided with a battery, and the battery is electrically connected with the circuit control system 700. The robot body 100 is internally provided with a battery, so that the integral robot is more portable and convenient to operate. The circuit control system 700 is electrically connected to the negative pressure suction mechanism 200, the cleaning assembly 430, and the flipping assembly 410. The circuit control system 700 controls the operation of the negative pressure adsorption mechanism 200, the cleaning assembly 430, and the flipping assembly 410.
In some embodiments, referring to fig. 1, 2 and 7, the traveling mechanism 300 includes two traveling assemblies that are respectively mounted on both sides of the robot body 100 in the width direction of the robot body 100. The walking assembly comprises a walking driving assembly 310, a driving wheel 320, a plurality of driven wheels 330 and a crawler 340, wherein the walking driving assembly 310 is installed on the robot body 100, the driving wheel 320 is connected with the walking driving assembly 310, the walking driving assembly 310 is used for driving the driving wheel 320 to rotate, the driven wheels 330 are rotationally connected to the robot body 100, and the crawler 340 is sleeved on the driving wheel 320 and the driven wheels 330. The travel drive assembly 310 may be an electric motor or a pneumatic motor. The driving wheel 320 is provided with a plurality of tooth-shaped bulges, the crawler 340 is provided with a plurality of tooth grooves, the tooth-shaped bulges are meshed in the tooth grooves, the walking driving assembly 310 drives the driving wheel 320 to rotate, the crawler 340 is driven to rotate, the driven wheel 330 can support the crawler 340, and the crawler 340 is ensured to move forward stably. The two groups of walking components are respectively arranged at two sides of the robot body 100, so that the robot body 100 moves stably.
In some embodiments, referring to fig. 1, 2 and 7, a travel drive assembly 310 is mounted on the robot body 100 at a rear end in the forward direction of the robot body 100. When the cleaning mechanism 400 is in the cleaning state, the cleaning support 420 extends in the advancing direction of the robot body 100. The cleaning support 420 is installed in front of the robot body 100 along the advancing direction, the walking driving assembly 310 is installed behind the robot body 100 along the advancing direction, so that the stress balance of the two ends of the robot body 100 along the length direction can be ensured, the gravity center of the integral robot can be ensured to be positioned on the robot body 100, and the movement stability of the integral robot can be ensured.
In some embodiments, referring to fig. 1, 2, 3 and 7, the turnover assembly 410 is a turnover motor, the turnover motor is mounted on the robot body 100, an output end of the turnover motor is in transmission connection with the turnover bracket, and the turnover motor drives the turnover bracket to rotate. Thereby switching the cleaning mechanism 400 between the cleaning state and the storage state. The flipping assembly 410 may also be a revolving cylinder.
In some embodiments, referring to fig. 1, 2, 3 and 7, the cleaning assembly 430 includes a cleaning driving assembly 431 and a cleaning brush 432, the cleaning driving assembly 431 is installed at an end of the cleaning support 420 far away from the robot body 100, the cleaning driving assembly 431 is in transmission connection with the cleaning brush 432, and the cleaning driving assembly 431 can drive the cleaning brush 432 to rotate. The cleaning drive assembly 431 may be a drive motor or a pneumatic motor. The cleaning driving component 431 drives the cleaning brush 432 to rotate, and the cleaning brush 432 sweeps down hardened materials on the inner wall of the silo.
The cleaning brush 432 is a cleaning disc brush. The middle of the cleaning disc brush is provided with a disc, the cleaning disc brush is conveniently connected with the cleaning driving assembly 431, the periphery of the disc is provided with a brush, the sweeping range of the cleaning brush 432 is larger, and when the cleaning driving assembly 431 drives the cleaning brush 432 to rotate, the brush on the periphery of the disc rotates around the center of the disc, and the cleaning brush 432 sweeps stably.
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. An integrated robot, comprising:
a robot body;
the negative pressure adsorption mechanism is arranged below 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 comprises a turnover assembly, a cleaning support and a cleaning assembly, wherein the turnover assembly is installed on the robot body, one end of the cleaning support is rotationally connected to the robot body, the cleaning assembly is installed at the other end of the cleaning support, the cleaning assembly is used for cleaning a wall surface to be cleaned, the turnover assembly is in transmission connection with the cleaning support, the turnover assembly is used for driving the cleaning support to rotate so as to enable the cleaning mechanism to be switched between a cleaning state and a storage state, and when the cleaning mechanism is in the cleaning state, the other end of the cleaning support extends out along the advancing direction of the robot body; when the cleaning mechanism is in a storage state, the cleaning support and the cleaning assembly are located above the robot body.
2. The integrated robot of claim 1, wherein the negative pressure adsorption mechanism comprises a negative pressure seat and a fan, a negative pressure cavity with an open lower end is arranged in the negative pressure seat, a mounting hole communicated with the negative pressure cavity is arranged on the negative pressure seat, the fan penetrates through the mounting hole, and the fan is used for extracting air in the negative pressure cavity so that negative pressure is generated at the lower end of the negative pressure seat to adsorb the robot body on a wall surface to be cleaned.
3. The integrated robot of claim 2, wherein the lower edge of the negative pressure seat is provided with a soft surrounding edge, and the soft surrounding edge is used for increasing the tightness in the negative pressure cavity when abutting against the wall surface to be cleaned.
4. The integrated robot of claim 2, further comprising a dust blowing mechanism, wherein the dust blowing mechanism comprises an air guide seat and an air blowing assembly, the air guide seat is mounted on the robot body, an air guide channel is arranged in 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 positioned in front of the travelling mechanism along the advancing direction of the robot body, the air blowing assembly is arranged close to the air guide port, and the air blowing assembly is used for blowing air to the air guide port and spraying the air from the air blowing port.
5. The integrated robot of claim 4, wherein the air guide seat is disposed adjacent to the negative pressure seat, and the air blowing assembly is the blower.
6. The integrated robot of claim 4, wherein the air guide channel comprises an air inlet section and an air outlet section which are communicated, the air inlet section is communicated with the air guide opening, the air outlet opening is communicated to the lower end of the air outlet section, and the air outlet section is gradually far away from the robot body along the downward direction.
7. The integrated robot of claim 1, further comprising a vision mechanism comprising a camera mounted on the robot body.
8. The integrated robot of claim 1, wherein the traveling mechanism comprises two traveling assemblies respectively mounted 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 mounted 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.
9. The integrated robot of claim 8, wherein the travel drive assembly is mounted on the robot body at a rear end in a forward direction of the robot body.
10. The integrated robot of claim 1, wherein the cleaning assembly comprises a cleaning drive assembly and a cleaning brush, the cleaning drive assembly is mounted on the cleaning support at an end of the cleaning support remote from the robot body, the cleaning drive assembly is in driving connection with the cleaning brush, and the cleaning drive assembly is used for driving the cleaning brush to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410044033.XA CN117841017A (en) | 2024-01-11 | 2024-01-11 | Integral robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410044033.XA CN117841017A (en) | 2024-01-11 | 2024-01-11 | Integral robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117841017A true CN117841017A (en) | 2024-04-09 |
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| CN202410044033.XA Pending CN117841017A (en) | 2024-01-11 | 2024-01-11 | Integral robot |
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| CN111252207A (en) * | 2020-02-20 | 2020-06-09 | 未来海工智能装备(山东)有限公司 | Ship bottom cleaning robot |
| CN112720512A (en) * | 2020-12-16 | 2021-04-30 | 自然资源部天津海水淡化与综合利用研究所 | Multi-drive cleaning robot for seawater desalination equipment |
| CN113276134A (en) * | 2021-06-30 | 2021-08-20 | 山西戴德测控技术有限公司 | Crawler-type negative pressure wall-climbing coal bunker cleaning robot |
| CN113576329A (en) * | 2021-08-04 | 2021-11-02 | 上海高仙自动化科技发展有限公司 | Cleaning robot |
| WO2022099639A1 (en) * | 2020-11-13 | 2022-05-19 | 陈彪 | Cleaning apparatus for use on glass curtain wall |
| CN216907760U (en) * | 2021-11-12 | 2022-07-08 | 科贤未来(无锡)科技有限公司 | Cleaning robot |
| CN114952548A (en) * | 2022-05-12 | 2022-08-30 | 无锡斯帝尔科技有限公司 | Polishing robot capable of intelligent vertical crawling |
| CN218714763U (en) * | 2022-11-04 | 2023-03-24 | 济南一建集团绿色建筑产业有限公司 | Traveling mechanism of building spraying robot |
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| JPH0810189A (en) * | 1994-06-30 | 1996-01-16 | Suzuki Motor Corp | Suction type wall face cleaning device |
| CN103658122A (en) * | 2013-07-03 | 2014-03-26 | 胡雄华 | Lifting type pipe cleaning robot |
| CN105212845A (en) * | 2015-11-10 | 2016-01-06 | 南京理工大学泰州科技学院 | Vacuum adsorption type crawler belt wall-climbing cleaning robot |
| CN105772459A (en) * | 2016-05-24 | 2016-07-20 | 巢湖学院 | Central air-conditioning pipeline cleaning device |
| CN109645905A (en) * | 2018-12-11 | 2019-04-19 | 安徽工程大学 | A kind of negative-pressure adsorption-type climbs wall sweeping robot |
| CN111252207A (en) * | 2020-02-20 | 2020-06-09 | 未来海工智能装备(山东)有限公司 | Ship bottom cleaning robot |
| WO2022099639A1 (en) * | 2020-11-13 | 2022-05-19 | 陈彪 | Cleaning apparatus for use on glass curtain wall |
| CN112720512A (en) * | 2020-12-16 | 2021-04-30 | 自然资源部天津海水淡化与综合利用研究所 | Multi-drive cleaning robot for seawater desalination equipment |
| CN113276134A (en) * | 2021-06-30 | 2021-08-20 | 山西戴德测控技术有限公司 | Crawler-type negative pressure wall-climbing coal bunker cleaning robot |
| CN113576329A (en) * | 2021-08-04 | 2021-11-02 | 上海高仙自动化科技发展有限公司 | Cleaning robot |
| CN216907760U (en) * | 2021-11-12 | 2022-07-08 | 科贤未来(无锡)科技有限公司 | Cleaning robot |
| CN114952548A (en) * | 2022-05-12 | 2022-08-30 | 无锡斯帝尔科技有限公司 | Polishing robot capable of intelligent vertical crawling |
| CN218714763U (en) * | 2022-11-04 | 2023-03-24 | 济南一建集团绿色建筑产业有限公司 | Traveling mechanism of building spraying robot |
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