CN223197685U - Cleaning robot - Google Patents
Cleaning robotInfo
- Publication number
- CN223197685U CN223197685U CN202421550153.9U CN202421550153U CN223197685U CN 223197685 U CN223197685 U CN 223197685U CN 202421550153 U CN202421550153 U CN 202421550153U CN 223197685 U CN223197685 U CN 223197685U
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- China
- Prior art keywords
- water pipe
- frame module
- cleaning
- cleaning device
- cleaning robot
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Abstract
本申请提供一种清洗机器人，清洗机器人包括第一清洗装置、第二清洗装置及行走装置，行走装置包括车架模块和滚轮组件，第一清洗装置与第二清洗装置分别安装于车架模块的相对两侧，滚轮组件安装于车架模块背离第一清洗装置的一侧，第一清洗装置、第二清洗装置及车架模块中的至少一个安装有摄像装置，第一清洗装置包括第一水管和旋转组件，旋转组件与车架模块相连，第一水管的一端与旋转组件相连，旋转组件用于驱使第一水管在平面内转动，第二清洗装置包括第二水管和支撑组件，支撑组件的一侧与车架模块相连，支撑组件的另一侧与第二水管相连。通过设置摄像装置，可精准定位待清洗物件的清洗位置，清洗机器人的清洗效率更高，使用更方便。
The present application provides a cleaning robot, comprising a first cleaning device, a second cleaning device, and a traveling device. The traveling device comprises a frame module and a roller assembly. The first cleaning device and the second cleaning device are respectively mounted on opposite sides of the frame module. The roller assembly is mounted on a side of the frame module facing away from the first cleaning device. At least one of the first cleaning device, the second cleaning device, and the frame module is equipped with a camera. The first cleaning device comprises a first water pipe and a rotating assembly. The rotating assembly is connected to the frame module. One end of the first water pipe is connected to the rotating assembly. The rotating assembly is used to drive the first water pipe to rotate within a plane. The second cleaning device comprises a second water pipe and a support assembly. One side of the support assembly is connected to the frame module, and the other side of the support assembly is connected to the second water pipe. By providing the camera, the cleaning position of the object to be cleaned can be accurately located, thereby improving the cleaning efficiency and making the cleaning robot more convenient to use.
Description
Technical Field
The application belongs to the technical field of cleaning equipment, and particularly relates to a cleaning robot.
Background
In the railway transportation industry, mainly use railway tank car as carrier dress fortune gas, liquid, different goods such as powder, wherein, horizontal cylinder's railway tank car is often used for transporting oil goods, through long-time storage transportation oil materials, the inner wall of railway tank car can accumulate the greasy dirt, arouse explosion and environmental pollution easily, when changing other materials or need overhaul the maintenance, in order to guarantee the product quality of material, need in time wash tank car inner wall, because manual cleaning railway tank car's intensity of labour is big, consequently, can adopt cleaning robot to replace the manual work to carry out cleaning work to railway tank car.
The existing cleaning robot comprises a spray gun and a traveling device, the spray gun can spray cleaning liquid, the traveling device can linearly move in the railway tank car, the spray gun is installed at the front end of the traveling device through a steering device, the steering device is used for driving the spray gun to rotate in a plane, and the spraying direction of the spray gun and the moving direction of the traveling device are mutually perpendicular, so that the traveling device is required to frequently perform steering operation or turning operation, the spray gun can clean all parts of the railway tank car, the cleaning robot can not observe the internal environment of the railway tank car, and the position to be cleaned of the railway tank car is difficult to accurately position, so that the problems of low cleaning efficiency and inconvenient use exist.
Disclosure of utility model
One of the purposes of the embodiments of the present application is to provide a cleaning robot, so as to solve the technical problems of low cleaning efficiency and inconvenient use of the cleaning robot caused by that a traveling device of the cleaning robot needs to frequently turn or turn to so as to clean each part of a railway tank car by a spray gun and the cleaning robot cannot observe the internal environment of the railway tank car.
In order to solve the technical problems, in a first aspect, one embodiment of the application provides a cleaning robot, which comprises a first cleaning device, a second cleaning device and a traveling device, wherein the traveling device comprises a frame module and roller assemblies, the first cleaning device and the second cleaning device are respectively arranged on two opposite sides of the frame module, the roller assemblies are arranged on one side of the frame module, which is away from the first cleaning device, at least one of the first cleaning device, the second cleaning device and the frame module is provided with an image pickup device, the first cleaning device comprises a first water pipe and a rotating assembly, the rotating assembly is connected with the frame module, one end of the first water pipe is connected with the rotating assembly, a plurality of first nozzles are arranged on the other end of the first water pipe in a circumferential ring of the first water pipe, the rotating assembly is used for driving the first water pipe to rotate in a plane, the second cleaning device comprises a second water pipe and a supporting assembly, one side of the supporting assembly is connected with the frame module, and a plurality of second water pipes are arranged on the other side of the supporting assembly, and the second water pipe is connected with the periphery of the second water pipe.
The cleaning robot has the advantages that the first cleaning device, the second cleaning device and the traveling device are matched with each other, the traveling device can enable the cleaning robot to move, the first cleaning device and the second cleaning device are respectively arranged on two opposite sides of the frame module, compared with the cleaning robot in the prior art, the camera device is arranged on at least one of the first cleaning device, the second cleaning device and the frame module, operation environment of the cleaning robot can be conveniently observed by an operator, the cleaning position of an object to be cleaned is accurately positioned, the cleaning robot is more convenient to use, the first water pipe is provided with the first nozzles along the circumferential ring, the first water pipe is driven to rotate in a plane by the rotating assembly, the cleaning range of the first cleaning device can cover all directions, the first cleaning device and the second cleaning device are respectively arranged on two opposite sides of the frame module, the second water pipe is provided with the second nozzles, and when one part of the first cleaning device is used for cleaning the object to be cleaned, the second cleaning device can be used for cleaning the other part of the object to be cleaned, and therefore the cleaning efficiency of the robot is improved.
In one implementation, the rotating assembly comprises a driving device, a base and a top cover, wherein the driving device is mounted on the frame module, the base is detachably connected with the top cover, a jack is formed between opposite surfaces of the base and the top cover for the first water pipe to be inserted, one side, deviating from the frame module, of the driving device is provided with an output end, and one side, deviating from the top cover, of the base is connected with the output end of the driving device.
In one possible embodiment, the length of the first water pipe is not less than the maximum distance between the drive device and the edge of the frame module.
In one technical scheme, the first cleaning device further comprises a spray head, one end of the spray head is connected with the first water pipe, and a plurality of first nozzles are arranged at the other end of the spray head.
In an realizable technical scheme, the supporting component comprises a first supporting piece and two second supporting pieces, the first supporting piece is installed on the frame module, one ends of the two second supporting pieces are respectively connected with two ends of the first supporting piece, the other ends of the two second supporting pieces are respectively connected with two ends of the second water pipe, one of the two second supporting pieces is provided with a water inlet, and the inside of the second water pipe is communicated with the water inlet.
In one possible technical solution, the first supporting member is vertically connected to the second supporting member, and the second water pipe is parallel to the frame module.
In one possible embodiment, the camera is mounted on a side of the first support facing away from the second water line.
In one possible technical solution, the plurality of second nozzles are uniformly spaced along the length direction of the second water pipe.
In one technical scheme, the running gear further comprises a plurality of hooks, and the hooks are mounted on one side, away from the roller assembly, of the frame module.
In one technical scheme, the vertical distance between the first water pipe and the frame module is not smaller than the vertical height of the hook.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a cleaning robot according to an embodiment of the present application;
FIG. 2 is a side view of a cleaning robot in an embodiment of the application;
FIG. 3 is a split view of a cleaning robot in an embodiment of the application;
FIG. 4 is a split view of a rotating assembly according to an embodiment of the present application.
Wherein, each reference sign in the figure:
10. The cleaning device comprises a first cleaning device, 11 parts of a first water pipe, 12 parts of a rotating assembly, 121 parts of a driving device, 122 parts of a base, 123 parts of a top cover, 13 parts of a first nozzle, 14 parts of a spray head, 101 parts of a jack, 102 parts of an output end;
20. A second cleaning device; 21, a second water pipe, 22, a supporting component, 221, a first supporting piece, 222, a second supporting piece, 23, a second nozzle, 201, a water inlet;
30. a walking device; 31, a frame module, 32, a roller assembly, 33, a hook;
40. An image pickup device.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application 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 for purposes of illustration only and are not intended to limit the scope of the application.
It will be understood that when an element is referred to as being "mounted" 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 is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The following detailed description is made with reference to specific drawings and examples:
Referring to fig. 1 to 3 together, the cleaning robot according to the embodiment of the application includes a first cleaning device 10, a second cleaning device 20 and a traveling device 30, wherein the traveling device 30 includes a frame module 31 and a roller assembly 32, the first cleaning device 10 and the second cleaning device 20 are respectively mounted on opposite sides of the frame module 31, the roller assembly 32 is mounted on one side of the frame module 31 away from the first cleaning device 10, at least one of the first cleaning device 10, the second cleaning device 20 and the frame module 31 is mounted with an image pickup device 40, the first cleaning device 10 includes a first water pipe 11 and a rotating assembly 12, the rotating assembly 12 is connected with the frame module 31, one end of the first water pipe 11 is connected with the rotating assembly 12, the other end of the first water pipe 11 is provided with a plurality of first nozzles 13 along a circumferential ring of the first water pipe 11, the rotating assembly 12 is used for driving the first water pipe 11 to rotate in a plane, the second cleaning device 20 includes a second water pipe 21 and a supporting assembly 22, one side of the supporting assembly 22 is connected with the frame module 31, the other side of the supporting assembly 22 is connected with the second water pipe 21, and the second water pipe 21 is provided with a plurality of second nozzles 23.
The first cleaning device 10, the second cleaning device 20 and the traveling device 30 are arranged to be matched with each other, the traveling device 30 can enable the cleaning robot to move, the first cleaning device 10 and the second cleaning device 20 are respectively used for executing cleaning work, at least one of the first cleaning device 10, the second cleaning device 20 and the frame module 31 is provided with the image pickup device 40, an operator can conveniently observe the working environment of the cleaning robot to accurately position the cleaning position of an object to be cleaned, the cleaning robot is more convenient to use, the first water pipe 11 is circumferentially provided with the first nozzles 13, the rotating assembly 12 drives the first water pipe 11 to rotate in a plane, the cleaning range of the first cleaning device 10 can cover all directions, the first cleaning device 10 and the second cleaning device 20 are respectively arranged on two opposite sides of the frame module 31, the periphery of the second water pipe 21 is provided with the second nozzles 23, and when the first cleaning device 10 is used for cleaning one part of the object to be cleaned, the second cleaning device 20 can be used for cleaning the other part of the object to be cleaned, and therefore the cleaning efficiency of the cleaning robot is improved.
In application, the cleaning robot is internally provided with a control component, an operator adopts a remote controller to remotely control the cleaning robot to execute various commands in a wireless mode, the operator does not need to enter an operation environment, potential safety hazards can be eliminated, and the automatic operation degree is high.
In application, the vertical direction refers to the standing direction of the cleaning robot, the roller assembly 32 is mounted on the lower side of the frame module 31 along the vertical direction, the first cleaning device 10 is mounted on the upper side of the frame module 31 along the vertical direction, and the second cleaning device 20 is mounted on the peripheral side of the frame module 31 perpendicular to the vertical direction.
Specifically, in one embodiment of the present application, the image pickup device 40 is installed at the outer circumference of the first water pipe 11 such that the image pickup device 40 changes the viewing angle as the first water pipe 11 turns.
Specifically, in another example of the present application, the image pickup device 40 is installed at the outer circumference of the second water pipe 21, or the image pickup device 40 is installed at the circumference side of the frame module 31 perpendicular to the vertical direction, so that the image pickup device 40 changes the viewing angle with the movement of the traveling device 30.
As can be appreciated, in other examples of the present application, the image pickup device 40 is mounted on the outer periphery of the first water pipe 11, the outer periphery of the second water pipe 21 and the vertical periphery of the frame module 31, so that an operator can have more viewing angles to observe the working environment, so as to accurately position the position to be cleaned, thereby improving the cleaning efficiency and cleaning effect of the cleaning robot.
In one embodiment, referring to fig. 1 to 4 together, the rotating assembly 12 includes a driving device 121, a base 122 and a top cover 123, the driving device 121 is mounted on the frame module 31, the base 122 is detachably connected with the top cover 123, a jack 101 is formed between opposite surfaces of the base 122 and the top cover 123 for inserting the first water pipe 11, an output end 102 is provided on a side of the driving device 121 facing away from the frame module 31, and a side of the base 122 facing away from the top cover 123 is connected with the output end 102 of the driving device 121.
In application, the driving device 121 may be a motor or an air cylinder, one side of the driving device 121 away from the output end 102 is adhered or screwed to the frame module 31, the output end 102 of the driving device 121 may perform autorotation movement, one side of the base 122 away from the top cover 123 is provided with a slot for inserting the output end 102 of the driving device 121, the base 122 is connected with the top cover 123 in a clamping manner or in a screwed manner, the first water pipe 11 and the rotating assembly 12 are convenient to assemble, and the production efficiency is high.
In use, the cleaning liquid is introduced from the side of the first water pipe 11 inserted into the insertion hole 101, and after flowing through the first water pipe 11, the liquid is ejected from the respective first nozzles 13 to cause the first cleaning device 10 to perform cleaning work.
In one embodiment, referring to fig. 1 to 3, the length of the first water pipe 11 is not less than the maximum distance between the rotating component 12 and the edge of the frame module 31.
In use, the first nozzle 13 is prevented from spraying liquid onto the frame module 31, ensuring that the cleaning operation performed by the first cleaning device 10 is not disturbed.
In one embodiment, referring to fig. 1 to 3, the first cleaning device 10 further includes a spray head 14, one end of the spray head 14 is connected to the first water pipe 11, and a plurality of first nozzles 13 are installed at the other end of the spray head 14.
In application, the spray heads 14 are connected with the first water pipe 11 in a clamping or threaded manner, so that the assembly between the first water pipe 11 and the spray heads 14 is more efficient, and the spraying direction of each first nozzle 13 is perpendicular to the length direction of the first water pipe 11, so that an operator can conveniently adjust the cleaning angle of the first cleaning device 10.
Specifically, in one embodiment of the present application, the number of the first nozzles 13 is eight, and each four first nozzles 13 are disposed on the same plane, and it is understood that in other embodiments of the present application, the number of the first nozzles 13 may be other, and other placement manners may be adopted for each first nozzle 13.
In an embodiment, referring to fig. 1 to 3 together, the support assembly 22 includes a first support member 221 and two second support members 222, the first support member 221 is mounted on the frame module 31, one ends of the two second support members 222 are respectively connected to two ends of the first support member 221, the other ends of the two second support members 222 are respectively connected to two ends of the second water pipe 21, one of the two second support members 222 is provided with a water inlet 201, and the interior of the second water pipe 21 is communicated with the water inlet 201.
In application, the cleaning liquid is introduced from the water inlet 201 of the second support 222, and when flowing through the second water pipe 21, the liquid is sprayed from each second nozzle 23 to cause the second cleaning device 20 to perform cleaning operation.
In one embodiment, referring to fig. 1 to 3, the first supporting member 221 is vertically connected to the second supporting member 222, and the second water pipe 21 is parallel to the frame module 31.
In application, the first supporting member 221 and the second supporting member 222 may have a rod-shaped structure, and the first supporting member 221, the two second supporting members 222 and the second water pipe 21 are integrally frame-shaped, so as to reduce the overall weight of the supporting assembly 22, and make the power of the running gear 30 more powerful.
In one embodiment, referring to fig. 1 to 3, an image capturing device 40 is mounted on a side of the first support 221 facing away from the second water pipe 21.
In application, the image capturing device 40 is a panoramic camera, and the image capturing device 40 is adhered or screwed to the first supporting member 221, so that shake of the image capturing device 40 generated when the walking device 30 moves can be reduced, and the installation stability of the image capturing device 40 can be ensured, so that the image capturing effect is better.
In one embodiment, referring to fig. 1 to 3, a plurality of second nozzles 23 are uniformly spaced along the length of the second water pipe 21.
In application, the efficiency and uniformity of spraying the liquid from the second cleaning device 20 can be improved, so that the cleaning effect of the second cleaning device 20 is better.
In one embodiment, referring to fig. 1 to 3 together, the walking device 30 further includes a plurality of hooks 33, and the plurality of hooks 33 are mounted on a side of the frame module 31 facing away from the roller assembly 32.
In application, the hooks 33 are connected by a lifting device, so that the lifting device can lift the cleaning robot to various working environments.
Specifically, the lifting device may be a crane, which is connected to the hanger 33 through a rope, so that the cleaning robot may be lifted to the inside of the railway tank car.
In application, the railway tank car is provided with a tank opening, when the cleaning robot is used for cleaning the interior of the railway tank car, the hanging hooks 33 are connected through the hanging device so as to hang the cleaning robot from the tank opening to the interior of the railway tank car, steam is firstly introduced into the interior of the railway tank car from the tank opening for steam treatment, the cleaning robot is remotely controlled to clean the interior of the tank body, then the hot air pipe is used for drying the interior of the railway tank car, the remote control cleaning robot is used for shooting a scene in the tank body, and finally the hanging hooks 33 are connected through the hanging device so as to hang the cleaning robot from the tank opening to the interior of the railway tank car.
In application, when the cleaning robot cleans the interior of the railway tank car, the running gear 30 drives the cleaning robot to reciprocate between the leftmost side and the rightmost side of the railway tank car, the first cleaning device 10 is started to clean the side wall of the railway tank car, the cleaning path is planned autonomously according to the requirement, so that full coverage is realized, the second cleaning device 20 is started to clean the bottom of the railway tank car, waste water and waste residues can be washed to the oil collecting groove of the railway tank car for recovery, and the water pressure sprayed by the first nozzle 13 and the second nozzle 23 can be 20MPa.
Specifically, in one example of the present application, after the first cleaning device 10 cleans the side wall of the railway tank car, the second cleaning device 20 is started to clean the bottom of the railway tank car, and it is understood that in other examples of the present application, the second cleaning device 20 is started to clean the bottom of the railway tank car while the first cleaning device 10 cleans the side wall of the railway tank car.
In one embodiment, referring to fig. 1 to 3, the vertical distance between the first water pipe 11 and the frame module 31 is not smaller than the vertical height of the hook 33.
In application, the first water pipe 11 can be prevented from colliding with the hook 33 in the rotating process, so that the cleaning work of the first cleaning device 10 is not disturbed.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (10)
1. The cleaning robot is characterized by comprising a first cleaning device (10), a second cleaning device (20) and a traveling device (30), wherein the traveling device (30) comprises a frame module (31) and roller assemblies (32), the first cleaning device (10) and the second cleaning device (20) are respectively arranged on two opposite sides of the frame module (31), the roller assemblies (32) are arranged on one side, deviating from the first cleaning device (10), of the frame module (31), and at least one of the first cleaning device (10), the second cleaning device (20) and the frame module (31) is provided with an image pickup device (40);
The first cleaning device (10) comprises a first water pipe (11) and a rotating assembly (12), the rotating assembly (12) is connected with the frame module (31), one end of the first water pipe (11) is connected with the rotating assembly (12), a plurality of first nozzles (13) are arranged at the other end of the first water pipe (11) along the circumferential ring of the first water pipe (11), and the rotating assembly (12) is used for driving the first water pipe (11) to rotate in a plane;
The second cleaning device (20) comprises a second water pipe (21) and a supporting component (22), one side of the supporting component (22) is connected with the frame module (31), the other side of the supporting component (22) is connected with the second water pipe (21), and a plurality of second nozzles (23) are arranged on the periphery of the second water pipe (21).
2. The cleaning robot according to claim 1, wherein the rotating assembly (12) comprises a driving device (121), a base (122) and a top cover (123), the driving device (121) is mounted on the frame module (31), the base (122) is detachably connected with the top cover (123), a jack (101) is formed between opposite surfaces of the base (122) and the top cover (123) for inserting the first water pipe (11), an output end (102) is arranged on one side, facing away from the frame module (31), of the driving device (121), and one side, facing away from the top cover (123), of the base (122) is connected with the output end (102) of the driving device (121).
3. The cleaning robot according to claim 2, characterized in that the length of the first water pipe (11) is not less than the maximum distance of the drive means (121) from the edge of the frame module (31).
4. The cleaning robot according to claim 1, wherein the first cleaning device (10) further comprises a shower head (14), one end of the shower head (14) is connected to the first water pipe (11), and a plurality of first nozzles (13) are installed at the other end of the shower head (14).
5. The cleaning robot according to claim 1, wherein the supporting component (22) comprises a first supporting member (221) and two second supporting members (222), the first supporting member (221) is mounted on the frame module (31), one ends of the two second supporting members (222) are respectively connected with two ends of the first supporting member (221), the other ends of the two second supporting members (222) are respectively connected with two ends of the second water pipe (21), one of the two second supporting members (222) is provided with a water inlet hole (201), and the inside of the second water pipe (21) is communicated with the water inlet hole (201).
6. The cleaning robot according to claim 5, characterized in that the first support (221) is vertically connected to the second support (222), and the second water pipe (21) is arranged in parallel with respect to the frame module (31).
7. The cleaning robot according to claim 5, characterized in that the side of the first support (221) facing away from the second water pipe (21) is fitted with the camera device (40).
8. The cleaning robot according to claim 1, wherein a plurality of the second nozzles (23) are provided at regular intervals along the length direction of the second water pipe (21).
9. The cleaning robot according to claim 1, characterized in that the running gear (30) further comprises a plurality of hooks (33), a plurality of the hooks (33) being mounted to a side of the frame module (31) facing away from the roller assembly (32).
10. The cleaning robot according to claim 9, characterized in that the vertical distance of the first water pipe (11) from the frame module (31) is not smaller than the vertical height of the hanger (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421550153.9U CN223197685U (en) | 2024-07-02 | 2024-07-02 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421550153.9U CN223197685U (en) | 2024-07-02 | 2024-07-02 | Cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN223197685U true CN223197685U (en) | 2025-08-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202421550153.9U Active CN223197685U (en) | 2024-07-02 | 2024-07-02 | Cleaning robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN223197685U (en) |
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2024
- 2024-07-02 CN CN202421550153.9U patent/CN223197685U/en active Active
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