WO2024036666A1 - 一种便于爬墙的水下机器人 - Google Patents

一种便于爬墙的水下机器人 Download PDF

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Publication number
WO2024036666A1
WO2024036666A1 PCT/CN2022/115709 CN2022115709W WO2024036666A1 WO 2024036666 A1 WO2024036666 A1 WO 2024036666A1 CN 2022115709 W CN2022115709 W CN 2022115709W WO 2024036666 A1 WO2024036666 A1 WO 2024036666A1
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Prior art keywords
cleaning robot
robot body
wall
main body
cleaning
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PCT/CN2022/115709
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English (en)
French (fr)
Inventor
邓卓明
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深圳市思傲拓科技有限公司
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Publication of WO2024036666A1 publication Critical patent/WO2024036666A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning

Definitions

  • the utility model relates to the technical field of swimming pool cleaning robots, and in particular to an underwater robot that is convenient for climbing walls.
  • the swimming pool cleaning robot is a type of swimming pool vacuum cleaner. It is mainly used to clean dirt in the swimming pool.
  • the patent number CN112112452B discloses a wall-climbing swimming pool cleaning robot. It adopts the method of entering the water and then discharging it. When cleaning the bottom of the swimming pool, the distance to the object to be cleaned is closer, which can improve the cleaning effect. When cleaning the side walls of the swimming pool, it is helpful to improve the adsorption strength between the body and the side wall of the swimming pool, and prevent the body from falling from the side wall of the swimming pool.
  • the purpose of this utility model is to propose an underwater robot that is easy to climb walls in order to solve the shortcomings existing in the prior art.
  • an underwater robot that is easy to climb walls including a cleaning robot body, the cleaning robot body includes a forward surface, and crawlers are installed on both sides of the cleaning robot body.
  • the main body of the cleaning robot is equipped with a guide mechanism that assists the main body of the cleaning robot in climbing the wall.
  • the crawler tracks and the guide mechanism both extend outside the forward surface.
  • the guide mechanism controls the main body of the cleaning robot when it climbs the wall. Apply an oblique push force from bottom to top and away from the wall.
  • the guide mechanism is an installation frame fixedly connected to the main body of the cleaning robot.
  • An end of the installation frame away from the main body of the cleaning robot is rotatably mounted with a guide wheel, and the guide wheel extends to the outside of the crawler track.
  • connection between the connection point of the mounting bracket and the main body of the cleaning robot and the axis of the guide wheel is x
  • the horizontal plane where the main body of the cleaning robot is located intersects with the connection x
  • the horizontal line y, the angle between the connecting line x and the horizontal line y is a, 30° ⁇ a ⁇ 60°.
  • a handle is fixedly installed on the top of the main body of the cleaning robot, and the mounting frame is fixedly connected to the handle.
  • the mounting frame includes a horizontal frame fixedly connected to the handle and a horizontal frame tilted on the horizontal frame, and the guide wheel is rotatably mounted on the inclined frame.
  • two rollers are rotatably mounted on both sides of the main body of the cleaning robot, and the crawler tracks located on both sides of the main body of the cleaning robot are respectively rotatably sleeved on the corresponding two rollers.
  • the utility model can play a guiding role when the cleaning robot body climbs the wall, so that the cleaning robot body can tilt quickly after contacting the wall, so that the crawler tracks used for traveling at the bottom of the cleaning robot body can move faster It fits the wall perfectly, saving the time of the traditional cleaning robot body for climbing the wall, and improving the cleaning speed of the cleaning robot body.
  • Figure 1 is a schematic diagram of the three-dimensional structure of the utility model
  • Figure 2 is a side view of the utility model
  • Figure 3 is a schematic structural diagram of the guide mechanism in the present utility model
  • the present utility model provides a technical solution: an underwater robot that is easy to climb walls, including a cleaning robot body 1.
  • the cleaning robot body 1 includes a forward surface 11, and both sides of the cleaning robot body 1 are A crawler track 3 is installed, and a guide mechanism 5 is installed on the main body 1 of the cleaning robot to assist the main body 1 of the cleaning robot in climbing the wall.
  • Both the crawler track 3 and the guide mechanism 5 extend outside the forward surface 11 , and the guide mechanism 5 is used when the main body 1 of the cleaning robot climbs.
  • an oblique thrust force is exerted on the main body 1 of the cleaning robot from bottom to top and away from the wall.
  • the guide mechanism 5 is a mounting frame 51 fixedly connected to the cleaning robot body 1 .
  • the mounting frame 51 has a guide wheel 52 rotatably mounted on one end away from the cleaning robot body 1 .
  • the guide wheel 52 extends to the outside of the crawler track 3 .
  • connection between the connection point between the mounting frame 51 and the cleaning robot body 1 and the axis of the guide wheel 52 is x.
  • the horizontal plane where the cleaning robot body 1 is located has a horizontal line y that intersects the connection line x.
  • the angle between the connecting line x and the horizontal line y is a, 30° ⁇ a ⁇ 60°.
  • the handle 4 is fixedly installed on the top of the cleaning robot body 1 , and the mounting bracket 51 is fixedly connected to the handle 4 .
  • the mounting frame 51 includes a horizontal frame 511 fixedly connected to the handle 4 and a horizontal frame 511 arranged obliquely on the horizontal frame 511.
  • the guide wheel 52 is rotatably installed on the inclined frame 512.
  • the handle 4 not only has the function of lifting the main body 1 of the cleaning robot to facilitate its carrying, but also has the highest height. Therefore, installing the guide mechanism 5 on the handle 4 can tilt the bottom of the main body 1 of the cleaning robot. It's more labor-saving.
  • Two rollers 2 are rotatably mounted on both sides of the cleaning robot body 1 .
  • the crawler tracks 3 located on both sides of the cleaning robot body 1 are respectively rotatably mounted on the corresponding two rollers 2 .
  • the rotation of the two rollers 2 will drive the rotation of the crawler 3. Therefore, the walking of the cleaning robot body 1 can be realized by the rotation of the two crawlers 3 in contact with the ground.
  • One of the four rollers 2 is used as a driving wheel. Either two rollers 2 on the same axis serve as driving wheels or all four rollers 2 serve as driving wheels.
  • the wall will pass the guide wheel 52 and the mounting bracket 51 to the cleaning robot body 1 in a direction that is opposite and oblique to the advancing direction of the cleaning robot body 1. Due to the upward thrust, when the cleaning robot body 1 continues to move toward the wall, the advancing surface 11 of the cleaning robot body 1 will tilt upward.
  • the two rotating crawlers 3 carry the main body 1 of the cleaning robot forward in the direction of the forward surface 11.
  • the guide wheel 52 on the guide mechanism 5 comes into contact with the wall, and then as the roller 2 continues to advance, the cleaning robot The side of the robot body 1 located on the forward surface 11 will tilt upward, causing the two crawlers 3 to contact the wall.
  • the side of the two crawlers 3 located at the top of the cleaning robot body 1 will At the same time, it is attached to the wall, and then the entire wall can be cleaned as the main body 1 of the cleaning robot walks across the entire wall.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种便于爬墙的水下机器人，属于泳池清污机器人技术领域，包括清洁机器人主体（1），清洁机器人主体（1）包括前进面（11），清洁机器人主体（1）的两侧均安装有履带（3），清洁机器人主体（1）上安装有辅助清洁机器人主体（1）攀爬墙壁的导向机构（5），履带（3）和导向机构（5）均延伸至前进面（11）外。通过增设导向机构（5）能够在清洁机器人主体（1）攀爬墙壁时起到导向的作用，使得清洁机器人主体（1）在与墙壁接触之后能够迅速的发生倾斜，使清洁机器人主体（1）底部用于行驶的履带（3）能够更快的与墙壁贴合，节省了传统清洁机器人主体用于爬墙的时间，提高了清洁机器人主体（1）的清洁速率。

Description

一种便于爬墙的水下机器人 技术领域
本实用新型涉及泳池清污机器人技术领域，尤其涉及一种便于爬墙的水下机器人。
背景技术
泳池清洁机器人属于泳池吸尘器的一种，主要用于清洁游泳池内的污物，如专利号为CN112112452B便公开了一种可爬墙的泳池清洁机器人，其采用了下进水后出水的方式，在进行泳池底部的清扫时，与被清扫物的距离更近，可改善清扫效果，在进行泳池侧壁的清扫时，有利于提高机身与泳池侧壁的吸附力度，避免机身自泳池侧壁滑落，但是上述的机器人在攀爬泳池侧壁时需要增大及机器人的速度或者增大机器人行进时的扭矩来使其攀爬上泳池侧壁，较为费力，为此，提出一种便于爬墙的水下机器人。
实用新型内容
本实用新型的目的是为了解决现有技术中存在的缺点，而提出的一种便于爬墙的水下机器人。
为了实现上述目的，本实用新型采用了如下技术方案：一种便于爬墙的水下机器人，包括清洁机器人主体，所述清洁机器人主体包括前进面，所述清洁机器人主体的两侧均安装有履带，所述清洁机器人主体的上安装有辅助清洁机器人主体攀爬墙壁的导向机构，所述履带和导向机构均延伸至前进面外，所述导向机构在清洁机器人主体攀爬墙壁时对清洁机器人主体施加从下至上且背离墙壁方向的斜推力。
优选的，所述导向机构与清洁机器人主体固定连接的安装架，所述安装架远离清洁机器人主体的一端转动安装有导向轮，所述导向轮延伸至履带外。
优选的，所述清洁机器人主体水平状态下，所述安装架和清洁机器人主体连接点与导向轮的轴心之间的连线为x，所述清洁机器人主体所处水平面有与连线x相交的水平线y，所述连线x与水平线y之间的夹角为a，30°≤a≤60°。
优选的，所述清洁机器人主体的顶部固定安装有提手，所述安装架与提手固定连接。
优选的，所述安装架包括与提手固定连接的横架以及倾斜设置在横架上的横架，所述导向轮转动安装在斜架上。
优选的，所述清洁机器人主体的两侧均转动安装有两个滚轮，位于清洁机器人主体两侧的履带分别转动套设在相应的两个滚轮上。
与现有技术相比，本实用新型的有益效果是：
本实用新型通过增设导向机构能够在清洁机器人主体攀爬墙壁时起到导向的作用，使得清洁机器人主体在与墙壁接触之后能够迅速的发生倾斜，使清洁机器人主体底部用于行驶的履带能够更快的与墙壁贴合，节省了传统清洁机器人主体用于爬墙的时间，提高了清洁机器人主体的清洁速率。
附图说明
图1为本实用新型的立体结构示意图；
图2为本实用新型的侧视图；
图3为本实用新型中导向机构的结构示意图；
图中：1、清洁机器人主体；11、前进面；2、滚轮；3、履带；4、提手；5、导向机构；51、安装架；511、横架；512、斜架；52、导向轮。
具体实施方式
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。
请参照图1-图3，本实用新型提供一种技术方案：一种便于爬墙的水下机器人，包括清洁机器人主体1，清洁机器人主体1包括前进面11，清洁机器人主体1的两侧均安装有履带3，清洁机器人主体1的上安装有辅助清洁机器人主体1攀爬墙壁的导向机构5，履带3和导向机构5均延伸至前进面11外，导向机构5在清洁机器人主体1攀爬墙壁时对清洁机器人主体1施加从下至上且背离墙壁方向的斜推力。
导向机构5与清洁机器人主体1固定连接的安装架51，安装架51远离清洁机器人主体1的一端转动安装有导向轮52，导向轮52延伸至履带3外。
清洁机器人主体1水平状态下，安装架51和清洁机器人主体1连接点与导向轮52的轴心之间的连线为x，清洁机器人主体1所处 水平面有与连线x相交的水平线y，连线x与水平线y之间的夹角为a，30°≤a≤60°。
清洁机器人主体1的顶部固定安装有提手4，安装架51与提手4固定连接。
安装架51包括与提手4固定连接的横架511以及倾斜设置在横架511上的横架511，导向轮52转动安装在斜架512上。
进一步的，提手4不仅具有拎起清洁机器人主体1方便其携带的作用，同时提手4的高度也是最高的，因此将导向机构5安装在提手4上能够使清洁机器人主体1底部翘起的更为省力。
清洁机器人主体1的两侧均转动安装有两个滚轮2，位于清洁机器人主体1两侧的履带3分别转动套设在相应的两个滚轮2上。
进一步的，两个滚轮2的转动将驱动履带3转动，因此通过与地面接触的两个履带3转动便可以实现清洁机器人主体1的行走，四个滚轮2当中的一个滚轮2作为驱动轮进行驱动或者处于同一轴线上的两个滚轮2作为驱动轮或为四个滚轮2均作为驱动轮。
进一步的，在导向轮52与墙壁接触之后，随着清洁机器人主体1不断的前进，墙壁将通过导向轮52和安装架51传递给清洁机器人主体1一个方向与清洁机器人主体1前进方向相反且斜向上的推力，因此当清洁机器人主体1持续往墙壁一侧行进将使得清洁机器人主体1的前进面11一侧向上翘起。
工作原理：使用时，两个转动的履带3带着清洁机器人主体1朝着前进面11的方向前进，首先导向机构5上的导向轮52与墙壁接触， 之后随着滚轮2不断的前进，清洁机器人主体1位于前进面11的一侧将向上翘起，且使得两个履带3与墙壁接触，最终随着两个履带3不断的转动，两个履带3位于清洁机器人主体1顶部的一侧将同时与墙壁贴合，之后随着清洁机器人主体1行走过整个墙壁便可以对整个墙壁进行清洁。
以上所述，仅为本实用新型较佳的具体实施方式，但本实用新型的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本实用新型揭露的技术范围内，根据本实用新型的技术方案及其实用新型构思加以等同替换或改变，都应涵盖在本实用新型的保护范围之内。

Claims (6)

  1. 一种便于爬墙的水下机器人，其特征在于：包括清洁机器人主体(1)，所述清洁机器人主体(1)包括前进面(11)，所述清洁机器人主体(1)的两侧均安装有履带(3)，所述清洁机器人主体(1)的上安装有辅助清洁机器人主体(1)攀爬墙壁的导向机构(5)，所述履带(3)和导向机构(5)均延伸至前进面(11)外，所述导向机构(5)在清洁机器人主体(1)攀爬墙壁时对清洁机器人主体(1)施加从下至上且背离墙壁方向的斜推力。
  2. 根据权利要求1所述的一种便于爬墙的水下机器人，其特征在于：所述导向机构(5)与清洁机器人主体(1)固定连接的安装架(51)，所述安装架(51)远离清洁机器人主体(1)的一端转动安装有导向轮(52)，所述导向轮(52)延伸至履带(3)外。
  3. 根据权利要求2所述的一种便于爬墙的水下机器人，其特征在于：所述清洁机器人主体(1)水平状态下，所述安装架(51)和清洁机器人主体(1)连接点与导向轮(52)的轴心之间的连线为x，所述清洁机器人主体(1)所处水平面有与连线x相交的水平线y，所述连线x与水平线y之间的夹角为a，30°≤a≤60°。
  4. 根据权利要求2所述的一种便于爬墙的水下机器人，其特征在于：所述清洁机器人主体(1)的顶部固定安装有提手(4)，所述安装架(51)与提手(4)固定连接。
  5. 根据权利要求4所述的一种便于爬墙的水下机器人，其特征在于：所述安装架(51)包括与提手(4)固定连接的横架(511)以及倾斜设置在横架(511)上的横架(511)，所述导向轮(52)转动 安装在斜架(512)上。
  6. 根据权利要求1所述的一种便于爬墙的水下机器人，其特征在于：所述清洁机器人主体(1)的两侧均转动安装有两个滚轮(2)，位于清洁机器人主体(1)两侧的履带(3)分别转动套设在相应的两个滚轮(2)上。
PCT/CN2022/115709 2022-08-18 2022-08-30 一种便于爬墙的水下机器人 WO2024036666A1 (zh)

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JP2014054860A (ja) * 2012-09-11 2014-03-27 Tawaraya:Kk 車輪装置
CN106667383A (zh) * 2016-12-30 2017-05-17 肇庆市小凡人科技有限公司 一种玻璃幕墙清洁机器人的攀爬驱动装置
CN109675734A (zh) * 2018-11-14 2019-04-26 黄河科技学院 路灯杆外表面清理、喷漆机器人
CN110329380A (zh) * 2019-07-19 2019-10-15 南安市明誓汽配贸易有限公司 一种儿童交流学习机器人
CN111605640A (zh) * 2020-07-06 2020-09-01 国网四川省电力公司南充供电公司 一种杆塔攀爬机器人
CN212635723U (zh) * 2020-07-30 2021-03-02 嘉兴学院 用于地下管廊且能原地转弯的双向巡检机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014054860A (ja) * 2012-09-11 2014-03-27 Tawaraya:Kk 車輪装置
CN106667383A (zh) * 2016-12-30 2017-05-17 肇庆市小凡人科技有限公司 一种玻璃幕墙清洁机器人的攀爬驱动装置
CN109675734A (zh) * 2018-11-14 2019-04-26 黄河科技学院 路灯杆外表面清理、喷漆机器人
CN110329380A (zh) * 2019-07-19 2019-10-15 南安市明誓汽配贸易有限公司 一种儿童交流学习机器人
CN111605640A (zh) * 2020-07-06 2020-09-01 国网四川省电力公司南充供电公司 一种杆塔攀爬机器人
CN212635723U (zh) * 2020-07-30 2021-03-02 嘉兴学院 用于地下管廊且能原地转弯的双向巡检机器人

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