Cleaning robot and operating method thereof

Abstract

A cleaning robot and its operating method include: an air drum system, a cleaning claw system, a walking system, a bottom cleaning system, a collection bucket, a posture adjustment system, a cleaning claw support system, and a third air duct system. A first right-angle duct is connected to the side wall of the air drum; a second air duct connected to the first right-angle duct is connected to a cleaning block at its distal end; a posture adjustment disc, driven by a posture adjustment motor, drives a T-bolt, which in turn drives a guide rectangular frame mounted on the outer side of the T-bolt, causing a lower steel pipe to move up and down along the first air duct. This causes an upper steel pipe, which is connected to the lower steel pipe, to move up and down along the first air duct and rotate around it. The support bar connected to the upper steel pipe drives the movement of the second air duct using a guide column at its other end. The third air duct system is used to supply compressed gas and cleaning fluid to the first air duct. The device of the present invention has diverse applications and broad application prospects.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology for chemical industry, pipeline, mechanical equipment, etc., and in particular to a cleaning robot and an operating method thereof. Background Art

[0002] Maintenance and cleaning of industrial equipment, cleaning the interior and exterior of pipelines, and dust removal and corrosion protection for some chemical equipment consume a significant amount of user effort. This is especially true for areas that maintenance personnel cannot reach, such as equipment bottoms, pipeline corners, and the interior of chemical equipment. These areas can cause severe corrosion to the equipment, leading to serious safety incidents and significant economic losses for users. Therefore, comprehensive dust and rust removal, as well as efficient access to hard-to-reach areas for spraying corrosion-resistant materials on surfaces, have become long-standing challenges for robots and are urgent issues that need to be addressed to extend the service life of machinery, chemical plants, and pipelines. Summary of the Invention

[0003] In order to solve the above problems, the purpose of the present invention is to provide a new cleaning robot and an operating method thereof.

[0004] According to one aspect of the present invention, a cleaning robot is provided, which is characterized in that it includes: an air drum system, a cleaning claw system, a walking system, a bottom cleaning system, a collection system, a posture adjustment system, a cleaning claw support system and a third air duct system, the air drum system includes: an air drum and an air drum top cover connected to the first air duct at the bottom, a first right-angle duct is connected to the air drum exhaust hole distributed on the side wall of the air drum; the cleaning claw system includes: a second air duct connected to the first right-angle duct via a Z-type joint, a cleaning block connected to the end side of the second air duct via the base, and the second air duct The elbow on the end side moves away from the axial direction of the second air guide pipe as it moves toward the base; the bottom cleaning system includes: a cleaning swivel that is sleeved on the outside of the walking system and has an annular groove on the inside, a brush body installed below the cleaning swivel, a conical ring connected to the top of the cleaning swivel, a rotating shaft with a bevel gear that cooperates with the conical ring is installed at one end, and a first pulley driven by a drive motor is installed on the rotating shaft; the collection system includes: a collection bucket that is fixedly connected to the posture adjustment system and extends to the bottom of the brush body; the posture adjustment system includes: a posture adjustment motor, a posture adjustment disk that is driven to rotate by the posture adjustment motor, and a first pulley that is installed on the posture adjustment disk and rotates with the posture adjustment The disc moves in a circular trajectory, a T-bolt for supporting the posture adjustment motor support frame, a support ring connected to the posture adjustment motor support frame and having a support ring circular hole sleeved on the first air guide pipe; the cleaning claw support system includes: a guide rectangular frame sleeved on the outside of the T-bolt, a lower steel pipe driven by the guide rectangular frame to move up and down along the first air guide pipe, an upper steel pipe circular table clamped with the lower steel pipe is provided to move up and down along the first air guide pipe with the lower steel pipe and rotate around the first air guide pipe, one end of the upper steel pipe is connected to the upper steel pipe and the other end is sleeved on the second air guide pipe A support bar connected to the guide column; the third air duct system includes: a third air duct pipeline connected to the first air duct, a compressed gas pipeline and a cleaning liquid pipeline connected to the other end of the third air duct pipeline via a tee; the walking system includes: a driving wheel driven by a driving motor and a steering wheel driven by a steering motor, a first horizontal support strip arranged on a bracket fixedly connected to the attitude adjustment motor support frame, a cleaning swivel support rod placed on the first horizontal support strip at a certain interval, and both ends of the cleaning swivel support rod are stuck in the annular groove so that the cleaning swivel can rotate around the cleaning swivel support rod.

[0005] According to another aspect of the present invention, a method for operating a cleaning robot is provided, which is used to operate the above-mentioned cleaning robot, including the following steps: Step 2: Start the drive motor and the steering motor to control the cleaning robot device to move to the position where cleaning begins; Step 3: Open the third air duct system to rotate the cleaning gripper system and start cleaning; Step 4: During the cleaning work, start and control the posture adjustment motor to control the lifting height of the cleaning gripper system, and then control the cleaning position of the cleaning gripper system on the cleaning object; Step 6: After cleaning is completed, close the third air duct system, and control the drive motor and the steering motor to move the cleaning robot device to another position.

[0006] According to the present invention, this type of robot has extremely broad application scenarios, especially in environments where dust removal, rust removal, and anti-corrosion spraying are required and it is inconvenient for human access. The device of the present invention can be flexibly disassembled and replaced. If a damaged part is replaced, it is not necessary to replace the entire part. Only the damaged part needs to be replaced, which greatly saves replacement costs and time. In addition, the device of the present invention is widely used for cleaning in small, irregular spaces that are inconvenient for cleaners to enter. The device of the present invention can use different cleaning liquids such as gasoline, kerosene, alcohol, water, etc. for cleaning according to the different objects to be cleaned. In addition, the cleaning block (sponge) can be replaced with a steel ball, a brush, etc. to perform a wider range of cleaning tasks. In addition, the device can also complete the work of applying the preservative to the inner surface of an object by adding a certain proportion of preservative liquid. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is an overall axonometric view of the cleaning robot of the present invention.

[0008] Figure 2 It is the left and right isometric drawing of the air drum of the present invention.

[0009] Figure 3 It is a vertical isometric view of the air drum of the present invention.

[0010] Figure 4 It is a top view of the air drum of the present invention.

[0011] Figure 5 This is an axonometric view of the annular gasket of the present invention.

[0012] Figure 6 It is an axonometric view of the air drum top cover of the present invention.

[0013] Figure 7 This is an axonometric view of the sealing gasket of the present invention.

[0014] Figure 8 This is an axonometric view of the first air guide tube of the present invention.

[0015] Figure 9 This is an axonometric view of the Z-type joint of the present invention and its partial cross-sectional view.

[0016] Figure 10 This is an overall axonometric view of the cleaning claw system of the present invention.

[0017] Figure 11 This is an axonometric view of the second air guide tube of the present invention.

[0018] Figure 12 This is the overall axonometric drawing of the auxiliary cylinder of the present invention.

[0019] Figure 13 This is a partial enlarged view of the spring installation of the cleaning claw system of the present invention.

[0020] Figure 14 It is the overall axonometric drawing of the ball head of the present invention.

[0021] Figure 15 These are axonometric views of the spherical buckle cover of the present invention from different viewing angles.

[0022] Figure 16 This is a partial enlarged view of the installation of the auxiliary cylinder and the spherical buckle cover of the present invention.

[0023] Figure 17 This is an axonometric view of the guide column of the present invention.

[0024] Figure 18 This is an enlarged view of the connection between the guide column and the cleaning claw support system of the present invention.

[0025] Figure 19 This is an axonometric view of the cleaning claw support upper system of the present invention.

[0026] Figure 20 This is an axonometric view of the cleaning claw support lower system of the present invention.

[0027] Figure 21 This is an axonometric diagram of the posture adjustment system of the present invention.

[0028] Figure 22 This is the axonometric view of the posture adjustment disk of the present invention.

[0029] Figure 23 It is an axonometric view of the snap ring of the present invention.

[0030] Figure 24 This is an axonometric view of the walking system support frame of the present invention.

[0031] Figure 25 It is the transmission axonometric diagram of the walking system of the present invention.

[0032] Figure 26 It is a guide axonometric drawing of the walking system of the present invention.

[0033] Figure 27 This is an axonometric view of the front single wheel of the walking system of the present invention.

[0034] Figure 28This is an axonometric view of the restraining ring on the front single-wheel steering shaft of the present invention.

[0035] Figure 29 This is an axonometric view of the front wheel support plate of the present invention.

[0036] Figure 30 This is an axonometric view of the bottom cleaning system of the present invention.

[0037] Figure 31 This is an axonometric view of the conical gear ring of the present invention.

[0038] Figure 32 This is an axonometric view of the connection between the rotating shaft and the bevel gear of the present invention.

[0039] Figure 33 This is an axonometric diagram of the rotation system of the present invention.

[0040] Figure 34 It is an axonometric view of the herringbone confinement ring of the present invention.

[0041] Figure 35 It is an axonometric view of the collecting barrel of the present invention.

[0042] Figure 36 This is an axonometric view of the third air duct system of the present invention. DETAILED DESCRIPTION

[0043] The following describes in detail exemplary embodiments of the present invention in conjunction with the accompanying drawings. The exemplary embodiments described below and illustrated in the accompanying drawings are intended to teach the principles of the present invention and enable those skilled in the art to implement and use the present invention in a variety of environments and for a variety of applications. Therefore, the scope of the present invention is defined by the appended claims, and the exemplary embodiments are not intended to, and should not be construed as, limiting the scope of the present invention. Furthermore, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not necessarily drawn to scale. References to orientations, such as top, bottom, left, right, top, and bottom, are based on the orientations or positional relationships shown in the drawings and are intended solely to facilitate description and simplify the description of the present invention. They are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation, and are therefore not to be construed as limiting the present invention. Throughout the drawings, identical elements are represented by identical or similar reference numerals. Conventional structures or configurations will be omitted where they may cause confusion or difficulty in understanding the present disclosure. Furthermore, in the description of this application, "a plurality" means two or more, unless otherwise specifically defined. Unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. Unless otherwise specified, the order and numerical values of the components and assembly steps described in the embodiments do not limit the scope of the present invention. Those skilled in the art will understand that the terms "first", "second", "step" and the like in the present invention are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them. For example, steps two and three can be swapped or performed in parallel.

[0044] The new cleaning robot according to the present invention is generally divided into eight systems, namely the air drum system 01, the cleaning claw system 02, the walking system 03, the bottom cleaning system 04, the collection system 05, the posture adjustment system 07, the cleaning claw support system 08, and the third air duct system 09.

[0045] As described in detail later, a first right-angle duct 0103 is provided on the side wall of the air drum 0107; a cleaning block 0201 is connected to the end side of the second air duct 0204 connected to the first right-angle duct 0103; the attitude adjustment disk 0701 driven to rotate by the attitude adjustment motor 0710 drives the T-bolt 0703, driving the guide rectangular frame 0806 sleeved on the outside of the T-bolt 0703, so that the lower-level steel pipe 0809 moves up and down along the first air duct 0118, so that the upper-level steel pipe 0804 clamped with the lower-level steel pipe 0809 moves up and down along the first air duct 0118 together with the lower-level steel pipe 0809 and rotates around the first air duct 0118, and the support bar 0802 connected to the upper-level steel pipe 0804 uses the guide column 020405 at the other end to drive the second air duct 0204 to move. The third air duct system 09 supplies compressed air and cleaning fluid to the first air duct 0118, causing the cleaning gripper system 02 to rotate and begin cleaning. During cleaning, the attitude adjustment motor 0710 is activated and controlled to control the height of the cleaning gripper system 02, thereby precisely controlling the cleaning position of the cleaning gripper system 02 on the object being cleaned.

[0046] <Air Drum System 01>

[0047] like Figure 2-Figure 7 As shown, the top layer of the cleaning robot is the air drum system 01, and the top of the air drum 0107 is the air drum cover 0111. Three second round ears 0113 are evenly distributed on the side of the air drum cover, and each second round ear 0113 has an air drum cover threaded hole 0112. Air drum cover 0111 has an air drum cover annular groove 0114, and an annular gasket 0115 is installed in the air drum cover annular groove 0114. Then, it is installed on the bottomed cylindrical air drum 0107. The first round ear 0106 and the second round ear 0113 on the air drum 0107 are aligned, and the first round ear screw 0105 is inserted through the air drum cover threaded hole 0112 to tightly connect the air drum cover 0111 to the air drum 0107. The annular gasket 0115 ensures the airtightness of the air drum cover 0111 and the air drum 0107.

[0048] The sidewall of the air drum 0107 is evenly distributed with air drum exhaust holes 0109. The first right-angled conduits 0103 are welded to the corresponding air drum exhaust holes 0109, and the first right-angled conduits 0103 and the air drum top cover 0111 remain parallel. The axis of the first right-angled conduit threaded portion 0104 of the first right-angled conduit 0103, which is away from the air drum exhaust holes 0109, is perpendicular to the axis of the air drum exhaust holes 0109.

[0049] The bottom of the air drum 0107 has a first cylindrical recess 0108, with the air drum air inlet 0110 centered in the first cylindrical recess 0108. A sealing gasket 0116 is installed within the first cylindrical recess 0108, with the sealing gasket's circular hole 01161 aligned with the air drum air inlet 0110. Then, the first air duct disc 0119 of the first air duct 0118 is installed into the first cylindrical recess 0108, resting against the sealing gasket 0116. The first air duct's air duct hole 0120, the sealing gasket's circular hole 01161, and the air drum air inlet 0110 are axially aligned. Furthermore, to ensure smooth rotation and airtightness of air drum 0107, the diameters of first cylindrical recess 0108, sealing gasket 0116, and first air duct disc 0119 are as close as possible. The combined thickness of sealing gasket 0116 and first air duct disc 0119 is equal to the depth of first cylindrical recess 0108. Then, a compression strip 0101 is installed at the bottom of air drum 0107. Two compression strips 0101 surround first air duct 0118 and press against first air duct disc 0119. Compression strip screws 0102 secure compression strip 0101 to the bottom of air drum 0107.

[0050] <Cleaning claw support system 08>

[0051] like Figure 19 、 20 As shown, support bars 0802 are evenly welded to the upper steel tube 0804 of the cleaning claw support system 08. An upper steel tube truncated platform 0803 is welded to the lower end of the upper steel tube 0804. A lower steel tube internal support 0805 is installed at the upper end of the lower steel tube 0809 of the cleaning claw support system 08. Upper steel tube truncated platform 0803 is placed inside lower steel tube internal support 0805, then covered with a pressure plate 0808, which is secured to the upper end of lower steel tube 0809 using pressure plate screws 0810. After installation, ensure that upper steel tube truncated platform 0803 rotates smoothly within lower steel tube internal support 0805.

[0052] The lower end of the lower steel pipe 0809 is welded with a square plate 0807, and the square plate 0807 is welded with a guide rectangular frame 0806. Then the upper steel pipe 0804 and the lower steel pipe 0809 of the cleaning claw support system 08 are put onto the first air guide pipe 0118.

[0053] like Figure 21 、 22As shown, the posture adjustment plate 0701 is positioned directly opposite the guide rectangular frame 0806. The screw rod of the T-bolt 0703 passes through the guide rectangular frame 0806 and connects to the posture adjustment plate 0701. The nut of the T-bolt 0703 blocks the guide rectangular frame 0806 from approaching the lower steel pipe 0809, thus aligning the guide rectangular frame 0806 and the posture adjustment plate 0701. The radius of the nut of the T-bolt 0703 is greater than the distance from the T-bolt 0703 to the edge of the guide rectangular frame 0806 and less than the distance from the T-bolt 0703 to the square plate 0807. The diameter of the screw rod of the T-bolt 0703 is equal to the width of the inner frame of the guide rectangular frame 0806, enabling precise movement of the lower steel pipe 0809. The circular hole 0702 of the attitude adjustment disk is installed and fixed to the rotating shaft 0704 of the attitude adjustment motor, thereby being connected to the attitude adjustment motor 0710. The attitude adjustment motor 0710 is installed (bolted or welded) to the attitude adjustment motor support frame 0709. The bottom end of the attitude adjustment motor support frame 0709 is welded with a support frame bottom plate 0708. The side end of the attitude adjustment motor support frame 0709 is welded with a support frame connecting plate 0705. The support ring 0707 is welded to the support frame connecting plate 0705. The support ring circular hole 0706 in the support ring 0707 is sleeved on the first air guide tube 0118 (see Figure 8 ), and in the middle of the two sets of first air guide tube slots 0117, then install the clamping ring 0711 ( Figure 23 ) onto the first air guide tube slot 0117 to fix the axial relative position of the support ring 0707 and the first air guide tube 0118.

[0054] <Walking System 03>

[0055] like Figure 24-29 As shown, install the walking system 03. The walking system 03 is provided with a bracket including a vertical support plate 0322 and a first horizontal support strip 0315. First, weld the vertical support plate 0322 to the lower part of the support frame bottom plate 0708 (see Figure 21 ), then vertically weld the two second horizontal support strips 0319 to the bottom of the vertical support plate 0322, weld the horizontal support plate 0320 to the middle of the two second horizontal support strips 0319, symmetrically vertically weld the four vertical support strips 0321 to the two second horizontal support strips 0319, horizontally weld the two first horizontal support strips 0315 to the top of the four vertical support strips 0321, and finally vertically weld two human-shaped support rings 0312 to the two first horizontal support strips 0315.

[0056] like Figure 25As shown, drive shaft 0308 is mounted on differential case 0307, and third pulley 0306 is then mounted on drive shaft 0308 and secured to one side of differential case 0307. Second horizontal support strip 0319 has a second support strip circular hole 0318. The mounted drive shaft 0308 is passed through this second support strip circular hole 0318, and then rear wheel 0305 is mounted on drive shaft 0308 (either a snap-on or threaded connection is possible). Drive motor 0309 is welded to horizontal support plate 0320, with the central axis of drive motor 0309 parallel to drive shaft 0308. Second pulley 0303 is mounted on drive motor 0309.

[0057] like Figure 26 As shown, steering motor 0324 is welded to vertical support plate 0322. Steering motor 0324 is equipped with a steering motor drive shaft 0329. A second spur gear 0330 is mounted on steering motor drive shaft 0329 (keyed). Front wheel support plate 0327 is welded horizontally to vertical support plate 0322. Front single-wheel steering shaft 0325 is welded to front wheel mounting bracket 0331. Front wheel mounting bracket 0331 houses front wheel rotation shaft 0332. Front wheel 0333 (equivalent to the steering wheel) is mounted on front wheel rotation shaft 0332. Front single-wheel steering shaft 0325 then passes through circular hole 032701 in the front support connecting plate of front wheel support plate 0327. It is then fitted with locking ring 0328 on the front single-wheel steering shaft and secured with a second jackscrew 0334. This secures the front wheel support plate 0327 in its position on front wheel rotation shaft 0332, ensuring the stability of travel system 03 during travel. Then the front single-wheel steering shaft 0325 is installed with the first spur gear 0326 and fixed, after which the first spur gear 0326 and the second spur gear 0330 are engaged.

[0058] <Bottom cleaning system 04>

[0059] like Figures 30-33 As shown, the bottom cleaning system 04 is installed. A brush 0402 (equivalent to a brushing body, which can be replaced with a wire brush or cloth brush, etc. according to the purpose) is installed (bonded or clamped) below the cleaning swivel 0403. A conical ring 0405 is welded above the cleaning swivel 0403, and an annular groove 0404 is provided on the inner side of the cleaning swivel 0403. Figure 24As shown, the cleaning swivel 0403 is placed on the travel system 03, so that the annular groove 0404 is aligned with the top of the first horizontal support strip 0315. The installed travel system 03 is placed from the bottom of the brush 0402 to the top of the first horizontal support strip 0315. Then, the cleaning swivel support rods 0301 are installed and respectively snapped into the annular grooves 0404. The two cleaning swivel support rods 0301 are spaced a certain distance apart to ensure that the cleaning swivel 0403 can rotate around the cleaning swivel support rods 0301 and that the cleaning swivel support rods 0301 do not fall out of the annular grooves 0404. Then place the two cleaning swivel support rods 0301 on the first horizontal support strip 0315 at a certain distance, and then use four clamping rings 0316 to press them onto the two cleaning swivel support rods 0301 respectively, and finally use clamping ring screws 0317 to fix the position of the clamping ring 0316 and the first horizontal support strip 0315, and finally lock the position of the cleaning swivel support rod 0301.

[0060] Bevel gear 0408 is installed (threaded or keyed) onto one end of rotating shaft 0409. Rotating shaft 0409 is then fitted with a herringbone retaining ring 0310, which is then passed through the circular hole 0313 of the human-type support ring 0312. It is then passed through two more circular holes 0313 of the human-type support rings, with the first pulley 0314 inserted between them and secured (with a keyway). Once this is complete, the second bevel tooth 0407 on bevel gear 0408 meshes with the first bevel tooth 0406 on the tapered ring 0405. Another herringbone retaining ring 0310 is then fitted onto rotating shaft 0409, clamped onto both sides of the human-type support ring 0312, and tightened with the first set screw 0311. This secures the horizontal position of rotating shaft 0409 and ensures meshing and rotation between bevel gear 0408 and tapered ring 0405.

[0061] In addition, when installing the first pulley 0314, the positions of the first pulley 0314, the second pulley 0303, and the third pulley 0306 are aligned, and then the first belt 0302 and the second belt 0304 are installed.

[0062] <Cleaning Claw System 02>

[0063] like Figure 10-18As shown, the cleaning claw system 02 is installed. The second airway tube 0204 is a long stainless steel tube with an elbow at one end. Near the elbow, a second airway tube support frame 020403 is located. These second airway tube support frames 020403 are symmetrically distributed and welded to the second airway tube 0204, forming two rows of parallel, one-to-one correspondence. The second airway tube outer support frame circular holes 02040302 are located on the outer set of second airway tube support frames 020403, while the second airway tube inner support frame circular holes 02040301 are located on the inner set of second airway tube support frames 020403. The second airway tube outer support frame circular holes 02040302 and the second airway inner support frame circular holes 02040301 correspond one-to-one and are coaxial. The inner side refers to the direction closer to the base 0202, while the outer side refers to the direction away from the base 0202.

[0064] like Figure 12 、 13As shown, the auxiliary cylinder system 0205 is installed: one end of the auxiliary cylinder 020506 is an auxiliary cylinder thread 020508, and the cylindrical stopper 020505 is sleeved on and welded to the auxiliary cylinder 020506, and the other end of the auxiliary cylinder 020506 is provided with an auxiliary cylinder thread hole 020507; then the spring 0203 is installed on the auxiliary cylinder 020506, and close to the cylindrical stopper 020505, the installed auxiliary cylinder 020506 passes through the second airway tube inner support frame circular hole 02040301 and the second airway tube outer support frame circular hole 02040302 in turn until the other end of the spring 0203 contacts the second airway tube support frame 020403, and finally the nut stopper 020504 is installed on the auxiliary cylinder thread 020508, and the nut stopper 020504 is rotated to fit tightly against the outer second airway tube support frame 020403. In this way, spring 0203 and nut stopper 020504 ensure that auxiliary cylinder 020506 remains elastically stationary relative to second airway tube support frame 020403. Then, spherical buckle cover 020501 is installed on the other end of auxiliary cylinder 020506. Ball-end threaded rod 020510 passes through the second circular hole 020503 of the spherical buckle cover and is screwed into the threaded hole 020507 of the auxiliary cylinder. Ball head 020509 is inserted into socket 02050101. The other two sets of auxiliary cylinder systems 0205 are then installed in sequence. After the auxiliary cylinder systems 0205 are installed, all three sets of spherical buckle covers 020501 are attached to base 0202 and bolted to base 0202 via the first circular hole 020502 of the spherical buckle covers and tightened securely. Ball head 020509 is attached to base 0202, ensuring that spherical cover 020501 rotates freely relative to auxiliary cylinder 020506. A cleaning block 0201 (sponge) (can be made of sponge, steel wool, soft cloth, animal fur, etc., depending on the application) is attached to the other side of base 0202. This can be glued or snapped in place. This completes the installation of cleaning claw system 02.

[0065] like Figure 17 、 18 As shown, a guide post 020405 is put on the second air guide tube 0204 through the second circular hole 020406 of the guide post, and the guide post 020405 can slide relative to the second air guide tube 0204; a guide post circular ear 020407 is provided on the guide post 020405, and the guide post circular ear 020407 has a guide post first circular hole 020404, and then the guide post circular ear 020407 and the support bar 0802 are made to be flat and in contact with each other, and the guide post first circular hole 020404 and the support bar circular hole 0801 are coaxial, and then a round head screw 080201 is passed through the guide post first circular hole 020404 and the support bar circular hole 0801, and then the matching nut 080202 is put on to ensure that the guide post 020405 can rotate relative to the support bar 0802 and that the round head screw 080201 and the matching nut 080202 do not fall off.

[0066] like Figure 9 As shown, there is a first annular stopper 0124 near one port of the Z-type connector 0121, one end of the movable interface 0123 is stuck behind the first annular stopper 0124, and the movable interface thread 0125 at the other end of the movable interface 0123 is engaged and fixed with the threaded portion 0104 of the first right-angle catheter. There is a gap between the port of the Z-type connector 0121 and the port of the first right-angle catheter 0103, and they can rotate relative to each other.

[0067] After the second air duct 0204 passes through the column 020405, the second air duct interface thread 020401 is screwed into the first threaded interface 0122 of the Z-type connector 0121 and tightened, and the position of the second air duct elbow outlet 020408 is made as horizontal as possible, that is, in the same plane as the first threaded interface 0122 of the Z-type connector. The second air duct elbow outlet 020408 is formed at the elbow part on the end side of the second air duct 0204. The elbow part moves away from the axial direction of the second air duct 0204 as it approaches the base 0202, thereby bending and extending at a certain angle (preferably between 30 and 70 degrees).

[0068] At this point, one set of cleaning claw systems 02, posture adjustment systems 07 and air drum systems 01 are connected. The remaining cleaning claw systems 02, posture adjustment systems 07 and air drum systems 01 can be installed in sequence according to the above steps.

[0069] like Figure 36 As shown, the third air duct system 09 is installed: a third air duct threaded joint 0907 is installed at the upper end of the third air duct pipe 0901, and a tee 0902 is installed at the lower end of the third air duct pipe 0901. A cleaning liquid pipe 0906 is installed at one end of the tee 0902, and a second valve 0905 is installed on the cleaning liquid pipe 0906 to control the flow of cleaning liquid entering the third air duct pipe 0901; a compressed gas pipe 0904 is installed at the other end of the tee 0902, and a first valve 0903 is installed on the compressed gas pipe 0904 to control the flow of compressed gas entering the third air duct pipe 0901. After the installation is completed, the third air duct threaded joint 0907 is installed to the bottom outlet of the first air duct 0118 and tightened to prevent the gas-liquid mixture entering the first air duct 0118 from the third air duct pipe 0901 from being discharged from the interface.

[0070] like Figure 35As shown, finally, the collection system 05, including the collection bucket 0503, is installed: an L-shaped sub-plate 0502 is welded to the sidewall of the collection bucket 0503, and a circular hole 0501 is located at the top of the L-shaped sub-plate 0502. The horizontal end of the L-shaped sub-plate 0502 is then placed on the support frame bottom plate 0708. The collection bucket screw 0504 is installed through the circular hole 0501 into the threaded hole 070801 of the support frame bottom plate and tightened. The collection bucket 0503 then extends below the brush 0402, with the bottoms of the collection bucket 0503 and brush 0402 aligned. The cross-section of the collection bucket 0503 is larger than the width of the brush 0402.

[0071] The device thus constructed allows for flexible replacement. If a damaged area is damaged, the entire device need only be replaced, significantly reducing replacement costs and time. Furthermore, the device is widely applicable for cleaning small, irregular spaces that are difficult for cleaners to access. Depending on the object being cleaned, the device can utilize different cleaning liquids, such as gasoline, kerosene, alcohol, and water. Furthermore, the cleaning block (sponge) can be replaced with a steel wool, brush, or other cleaning agent to achieve a wider range of cleaning tasks. Furthermore, the device can be filled with a certain proportion of preservative liquid to apply an antiseptic to the inner surface of an object. Thus, the device has a wide range of applications and a promising future.

[0072] More specifically, embodiments of the apparatus of the present invention are described below.

[0073] First, open the pneumatic system: the first valve 0903 delivers compressed gas through the compressed gas pipeline 0904, and then enters the third air guide pipe 0901 through the tee 0902. The first valve 0903 switch is rotated to adjust the flow rate of compressed gas entering; the second valve 0905 is opened to deliver cleaning liquid through the cleaning liquid pipeline 0906, and enters the third air guide pipe 0901 through the tee 0902. The compressed gas and cleaning liquid form a mixed gas and liquid in the tee 0902 (the ratio of gas and cleaning liquid can be adjusted by the second valve 0905 and the first valve 0903). The formed mixed gas and liquid flows along the third air guide pipe 0901 through the third air guide pipe threaded joint 0907 and enters the first air guide pipe 0118 (see Figure 36 ), and then enters the air drum 0107 through the first air guide hole 0120, the sealing gasket hole 01161, and the air drum air inlet hole 0110, and fills the air drum 0107 (see again Figure 2-8 The mixed gas and liquid then pass through the air drum exhaust hole 0109 and then through the corresponding Z-shaped joint 0121 to enter the second air duct 0204. Finally, the mixed gas and liquid are sprayed out in a scattered manner through the second air duct elbow outlet 020408 and sprayed onto the surface of the cleaning object and the cleaning block 0201 (sponge) (see Figure 8-10), and the reaction force of the mixed gas and liquid injection pushes the second air guide tube 0204 to rotate in the opposite direction, thereby driving the cleaning claw system 02 to rotate, and then driving the air drum 0107 to rotate through the Z-type joint 0121 and the first right-angle guide tube 0103. In this way, the cleaning block 0201 (sponge) wipes the cleaned items (see Figure 1 ).

[0074] Then start the travel system 03 (see Figures 24-28 ): Start the drive motor 0309, which drives the second pulley 0303 to rotate. The second pulley 0303 drives the third pulley 0306 via the second belt 0304. The third pulley 0306 then drives the differential case 0307. The differential case 0307 drives the drive shaft 0308, which in turn drives the rear wheel 0305 (equivalent to the drive wheel) to move. The rear wheel 0305 then drives the front wheel 0333 to move, thereby driving the entire cleaning robot device to move. The steering motor 0324 is started, and the second spur gear 0330 is driven to rotate through the steering motor drive shaft 0329. The second spur gear 0330 then drives the first spur gear 0326 to rotate. The first spur gear 0326 drives the front wheel fixing frame 0331 to steer through the front single-wheel steering shaft 0325. The front wheel fixing frame 0331 then controls the front wheel 0333 to steer through the front wheel rotating shaft 0332, thereby controlling the steering of the entire cleaning robot device and also controlling the direction of movement of the entire cleaning robot device.

[0075] The bottom cleaning system 04 is driven as follows (see Figure 25 、 30 -35): The driving motor 0309 drives the second pulley 0303 to rotate. The second pulley 0303 drives the first pulley 0314 to rotate via the first belt 0302. The first pulley 0314 then drives the rotating shaft 0409 to rotate. The rotating shaft 0409 drives the bevel gear 0408 to rotate. The bevel gear 0408 drives the conical ring 0405 to rotate. The conical ring 0405 then drives the cleaning swivel 0403 to rotate. The cleaning swivel 0403 drives the brush 0402 to rotate. This activates the bottom cleaning system 04, and the cleaning robot device can also clean objects under itself while moving. Then, through the collection system 05, the purpose of cleaning objects and collecting waste is achieved.

[0076] During the movement of the cleaning robot device (see Figure 10-22), starts and controls the speed and start / stop times of the attitude adjustment motor 0710, and drives the attitude adjustment disk 0701 for controlled rotation via the attitude adjustment motor's rotating shaft 0704. Then, attitude adjustment disk 0701 drives T-bolts 0703 to move in a circular trajectory around the attitude adjustment motor's rotating shaft 0704. T-bolts 0703, which are inserted into guide rectangular frame 0806, drive guide rectangular frame 0806 to move up and down along first air duct 0118. Guide rectangular frame 0806, in turn, drives lower steel pipe 0809 to move up and down along first air duct 0118 via square plate 0807. Lower steel pipe internal support 0805 and pressure plate 0808 on lower steel pipe 0809 clamp upper steel pipe circular platform 0803, restricting it to rotation around first air duct 0118 and vertical movement along first air duct 0118 with lower steel pipe 0809. Upper steel tube 0804 then moves up and down along first air duct 0118, following lower steel tube 0809. However, upper steel tube 0804 can also rotate around first air duct 0118. Support bar 0802 on upper steel tube 0804 is connected to guide post 020405 via round screw 080201 and mating nut 080202. Guide post 020405 can rotate around round screw 080201 at the end of support bar 0802. Furthermore, guide post 020405 drives support bar 0802 to rotate around first air duct 0118 via round screw 080201 and mating nut 080202. Second circular hole 020406 in guide post 020405 fits directly onto second air duct 0204, allowing guide post 020405 to move along second air duct 0204. Thus, the posture adjustment plate 0701, lower steel pipe 0809, upper steel pipe 0804, support bar 0802, and second air duct 0204 are interconnected and move. Second air duct 0204 drives support bar 0802 to rotate, which in turn rotates upper steel pipe 0804, while maintaining its own vertical movement along with lower steel pipe 0809. Therefore, the posture adjustment motor 0710 can control the vertical swing of the cleaning claw system 02, or it can control the cleaning claw system 02 to position itself at a certain height for cleaning. This allows the cleaning robot to clean a wide range of objects, from the top to the bottom of the robot.

[0077] When the cleaning block 0201 (such as a sponge) does not touch the surface of the object to be wiped, the three groups of springs 0203 on the auxiliary cylindrical system 0205 are evenly stressed, the nut stopper 020504 is in contact with the second air guide tube support frame 020403, the three groups of auxiliary cylinders 020506 extend to the same length, and the base 0202 is perpendicular to the three groups of auxiliary cylinders 020506. At this time, the auxiliary cylindrical system 0205 and the cleaning block 0201 (sponge), the base 0202, and the second air guide tube 0204 are relatively stationary. When the cleaning block 0201 (sponge) contacts the surface of the object to be wiped (the surface of the object to be wiped may be an irregular plane), the force generated between the two is transmitted back to the base 0202. Due to the mutual cooperation of the spherical buckle cover 020501, the ball head 020509, and the ball head threaded rod 020510, the force exerted on the base 0202 can be distributed to the three groups of auxiliary cylinders 020506 respectively. The three groups of auxiliary cylinders 020506 move backward a certain distance (not necessarily equal), and then compress the three groups of springs 0203 respectively under the action of the cylindrical stopper 020505. The three groups of springs 0203 then generate three different reaction forces to offset the force distributed by the base 0202 to the three groups of auxiliary cylinders 020506, forming an instantaneous fixed position of the base 0202 in space, thereby making the cleaning block 0201 (sponge) better in contact with the surface of the object to be wiped, making the cleaning effect more obvious.

[0078] The working principle of the other groups of cleaning claw systems 02 is the same. These groups of cleaning claw systems 02 rotate under the push of the reaction force of the mixed gas and liquid to complete the cleaning of the sample object.

[0079] According to the above operating principle, the method can be performed by the following steps.

[0080] Step 1: The operator places the cleaning robot device near the object to be cleaned;

[0081] Step 2: The operator starts the drive motor 0309 to put the cleaning robot into motion, and starts the steering motor 0324 to control the cleaning robot to move to a suitable position to start cleaning;

[0082] Step 3: The operator turns on the pneumatic system, that is, opens the first valve 0903 and the second valve 0905, so that the cleaning grabbing system 02 rotates and starts the cleaning work.

[0083] Step 4: During the cleaning process, the operator starts and controls the posture adjustment motor 0710 (which can be program-controlled or manually controlled) to control the lifting height of the cleaning gripping system 02, thereby accurately controlling the cleaning position of the cleaning gripping system 02 on the cleaning object.

[0084] Step 5: Then during the cleaning work, the operator either sets a program to control the cleaning robot to clean, or manually controls the cleaning robot to clean.

[0085] Step 6: After cleaning is completed, close the pneumatic system, that is, close the first valve 0903 and the second valve 0905, and then control the drive motor 0309 and the steering motor 0324 to move the cleaning robot device to a suitable position.

[0086] Step 7: Remove the collection bucket 0503, empty the cleaned garbage, and reinstall the collection bucket 0503.

[0087] Although the present invention has been described with reference to various specific embodiments, it will be appreciated that modifications may be made within the spirit and scope of the inventive concepts described. It is intended, therefore, that the present invention not be limited to the embodiments described, but will have the full scope defined by the language of the appended claims.

Claims

1. A cleaning robot, characterized in that: include: Air drum system (01), cleaning claw system (02), walking system (03), bottom cleaning system (04), collection system (05), posture adjustment system (07), cleaning claw support system (08) and third air guide tube system (09), The air drum system (01) comprises: an air drum (0107) whose bottom is connected to a first air guide pipe (0118) and an air drum top cover (0111); a first right-angle duct (0103) is connected to the air drum exhaust holes (0109) formed on the side wall of the air drum (0107); The cleaning claw system (02) comprises: a second air duct (0204) connected to the first right-angle duct (0103) via a Z-type joint (0121); a cleaning block (0201) connected to the end side of the second air duct (0204) via a base (0202); an elbow portion on the end side of the second air duct (0204) moving away from the axial direction of the second air duct (0204) as it moves toward the base (0202); The bottom cleaning system (04) comprises: a cleaning rotating ring (0403) which is sleeved on the outside of the walking system (03) and has an annular groove (0404) on the inside thereof, a brush sweeping body installed below the cleaning rotating ring (0403), a conical ring (0405) connected to the top of the cleaning rotating ring (0403), a rotating shaft (0409) having a bevel gear (0408) matched with the conical ring (0405) installed at one end thereof, and a first pulley (0314) installed on the rotating shaft (0409) and driven by a driving motor (0309); The collection system (05) comprises: a collection bucket (0503) fixedly connected to the posture adjustment system (07) and extending below the brushing body; The posture adjustment system (07) comprises: a posture adjustment motor (0710), a posture adjustment disk (0701) driven to rotate by the posture adjustment motor (0710), a T-bolt (0703) arranged on the posture adjustment disk (0701) and moving in a circular trajectory along with the posture adjustment disk (0701), a posture adjustment motor support frame (0709) for supporting the posture adjustment motor (0710), and a support ring (0707) connected to the posture adjustment motor support frame (0709) and having a support ring circular hole (0706) sleeved on the first air guide tube (0118); The cleaning claw support system (08) comprises: a guide rectangular frame (0806) sleeved on the outside of the T-bolt (0703); a lower steel pipe (0809) driven by the guide rectangular frame (0806) to move up and down along the first air guide pipe (0118); an upper steel pipe truncated cone (0803) engaged with the lower steel pipe (0809) to move up and down along the first air guide pipe (0118) along with the lower steel pipe (0809) and to rotate around the first air guide pipe (0118); and a support bar (0802) connected at one end to the upper steel pipe (0804) and at the other end to a guide column (020405) sleeved on the second air guide pipe (0204); The third airway system (09) comprises: a third airway pipe (0901) whose one end is connected to the first airway pipe (0118), a compressed gas pipe (0904) and a cleaning liquid pipe (0906) which are connected to the other end of the third airway pipe (0901) via a tee (0902); The walking system (03) includes: a driving wheel driven by a driving motor (0309) and a steering wheel driven by a steering motor (0324); a first horizontal support strip (0315) arranged on a bracket fixedly connected to a posture adjustment motor support frame (0709); a cleaning swivel support rod (0301) placed on the first horizontal support strip (0315); and both ends of the cleaning swivel support rod (0301) are inserted into the annular groove (0404) so that the cleaning swivel (0403) can rotate around the cleaning swivel support rod (0301).

2. The cleaning robot according to claim 1, characterized in that: The air drum (0107) is cylindrical with a bottom, and air drum exhaust holes (0109) are evenly distributed on the side wall of the air drum (0107). The first right-angled conduit (0103) is respectively welded to the air drum exhaust holes (0109) and the first right-angled conduit (0103) and the air drum top cover (0111) remain parallel.

3. The cleaning robot according to claim 1 or 2, characterized in that: A first cylindrical concave platform (0108) is provided at the bottom of the air drum (0107), a first air guide tube disc (0119) of a first air guide tube (0118) is installed in the first cylindrical concave platform (0108), and a compression strip (0101) for pressing the first air guide tube disc (0119) is installed at the bottom of the air drum (0107).

4. The cleaning robot according to claim 1, characterized in that: A first annular stopper (0124) is provided on one end side of the Z-type joint (0121), one end of the movable interface (0123) is snap-connected to the rear of the first annular stopper (0124), and a movable interface thread (0125) at the other end of the movable interface (0123) and a first right-angled conduit thread portion (0104) of the first right-angled conduit (0103) are engaged and fixed, so that a gap exists between the port of the Z-type joint (0121) and the port of the first right-angled conduit (0103) to allow relative rotation, and a second air guide tube interface thread (020401) of the second air guide tube (0204) is screwed and fixed to the first threaded interface (0122) of the Z-type joint (0121).

5. The cleaning robot according to claim 1, characterized in that: Two groups of second airway tube support frames (020403) are installed on the end side of the second airway tube (0204) in parallel and corresponding manner, wherein the second airway tube outer support frame circular holes (02040302) distributed on the outer group of second airway tube support frames (020403) and the second airway tube inner support frame circular holes (02040301) distributed on the inner group of second airway tube support frames (020403) correspond to each other and are coaxial, and an auxiliary cylinder system (02055) including a plurality of auxiliary cylinders (020506) is installed on the two groups of second airway tube support frames (020403), a cylindrical stopper (020505) is fixed on the auxiliary cylinder (020506), and a spring (0203) is mounted on the auxiliary cylinder (020506) against the cylindrical stopper (020505), and the auxiliary cylinder (020506) has One end of the auxiliary cylindrical thread (020508) passes through the circular hole (02040301) of the inner support frame of the second air guide tube and the circular hole (02040302) of the outer support frame of the second air guide tube in sequence until the other end of the spring (0203) contacts the second air guide tube support frame (020403), and a rotating nut stopper (020504) is installed on the second air guide tube support frame (020403) close to the outside. The auxiliary cylindrical threaded hole (020507) at the other end of the auxiliary cylinder (020506) is screwed with the ball head threaded rod (020510) on the ball head (020509) that passes through the second circular hole (020503) of the spherical buckle cover (020501). The spherical buckle cover (020501) is installed on the base (0202), and a cleaning block (0201) is installed on the other side of the base (0202).

6. The cleaning robot according to claim 1, characterized in that: A guide post (020405) is sheathed on the second air guide tube (0204) in a relatively slidable manner, and a guide post circular ear (020407) is provided on the guide post (020405). The first guide post circular hole (020404) of the guide post circular ear (020407) and the support bar circular hole (0801) of the support bar (0802) are connected via a round head screw (080201) in a relatively rotatable manner.

7. The cleaning robot according to claim 1, characterized in that: The upper end of the lower steel pipe (0809) of the cleaning claw support system (08) is provided with a lower steel pipe internal support platform (0805), and the upper steel pipe round platform (0803) located at the lower end of the upper steel pipe (0804) is placed in the lower steel pipe internal support platform (0805) and covered and pressed by a pressure plate (0808) fixed on the upper end of the lower steel pipe (0809).

8. The cleaning robot according to claim 1, characterized in that: The bracket comprises: a vertical support plate (0322) fixedly connected to a posture adjustment motor support frame (0709), a second horizontal support strip (0319), a vertical support strip (0321), a first horizontal support strip (0315), and a human-type support ring (0312) connected in sequence to the bottom of the vertical support plate (0322), and a rotating shaft (0409) is mounted on the human-type support ring (0312).

9. The cleaning robot according to claim 1, characterized in that: A second valve (0905) is installed on the cleaning liquid pipeline (0906) to control the flow of the cleaning liquid entering the third air guide pipeline (0901); a first valve (0903) is installed on the compressed gas pipeline (0904) to control the flow of the compressed gas entering the third air guide pipeline (0901).

10. A method for operating a cleaning robot, for operating the cleaning robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 2: Start the driving motor (0309) and the steering motor (0324) to control the cleaning robot device to move to the starting position of cleaning; Step 3: Open the third airway system (09), so that the cleaning grasping system (02) rotates and starts cleaning; Step 4: During the cleaning process, the attitude adjustment motor (0710) is started and controlled to control the lifting height of the cleaning grasping system (02), thereby controlling the cleaning position of the cleaning grasping system (02) on the cleaning object; Step 6: After cleaning is completed, the third air duct system (09) is closed, and the driving motor (0309) and the steering motor (0324) are controlled to move the cleaning robot device to another position.

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