A robotic caster cleaning system

Abstract

The application provides a robot caster cleaning system, which comprises a cleaning unit and a drying unit. The cleaning unit comprises a cleaning assembly, a water collecting tank and an uphill pedal. The cleaning assembly comprises a cleaning frame, a driving component, a flexible cleaning assembly and a cleaning mechanism. The drying unit comprises a downhill pedal and a drying assembly. The robot moves to the cleaning assembly through the uphill pedal, the driving component drives the flexible cleaning assembly to run and clean the robot caster, the cleaned robot leaves the robot caster cleaning system from the downhill pedal, and the drying assembly dries the robot caster during the downhill process. The robot caster cleaning system can reduce the floor area of the cleaning system, reduce the cost investment and planning difficulty, and improve the cleaning rate of the robot caster. Meanwhile, the cleaning effect of the robot caster is ensured, the cleaning liquid is prevented from splashing on the robot, and the damage of the robot and the drying difficulty are reduced.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robot caster cleaning equipment, and in particular to a robot caster cleaning system. BACKGROUND

[0002] Various intelligent factories have emerged in various industries, especially in the production and manufacturing industries such as automobiles, logistics and photovoltaics. The concept of unmanned factory production has become the mainstream of industry development. As a form of material transfer, robots are widely used in various links of the production and manufacturing industries such as automobiles, logistics and photovoltaics.

[0003] In the process of robot work, dust accumulates on the robot caster because the workshop floor link is not clean enough. If it is not cleaned in time, it will aggravate the wear of the caster and affect the normal use of the robot. At present, the cleaning method of the robot caster mainly adopts manual cleaning, which needs manual adjustment of the cleaning position and cleaning around the robot. In this process, the inside of the caster is not cleaned thoroughly, and the water spray range of the water gun is wide, which is easy to splash into the inside of the robot, which is not conducive to subsequent drying treatment, and this method requires a large cleaning site and consumes a certain amount of manpower. Of course, with the continuous investment and development of enterprises in the concept of unmanned factory production, the caster cleaning machine with the functions of washing and drying casters also begins to appear. However, considering the equipment factors of washing and drying casters, dry and wet separation is needed, and the sites used for these two processes usually need to be set separately, so the land occupation is large, and the efficiency of caster cleaning is also reduced to some extent.

[0004] Therefore, the existing technology has the following problems:

[0005] 1. Manual cleaning method needs manual adjustment of cleaning position and cleaning around the robot. In this process, the inside of the caster is not cleaned thoroughly, and the water spray range of the water gun is wide, which is easy to splash into the inside of the robot, which is not conducive to subsequent drying treatment, and this method requires a large cleaning site and consumes a certain amount of manpower.

[0006] 2. In order to realize the function of dry and wet separation, the existing caster cleaning machine isolates the washing area and the drying area, increases the land occupation, increases the cost investment and planning difficulty, and also increases the driving path of the robot, which reduces the efficiency of caster cleaning to some extent. SUMMARY

[0007] To solve the above technical problems, the application provides a robot caster cleaning system, which comprises:

[0008] The cleaning unit comprises at least one cleaning assembly, a water collecting tank arranged below the cleaning assembly, and an uphill pedal arranged at the front end of the cleaning assembly; the cleaning assembly comprises a horizontal cleaning frame, drive components arranged at both ends of the cleaning frame, a flexible cleaning assembly wound around the drive components and forming an annular structure, and a cleaning mechanism arranged at the bottom of the cleaning frame; the annular structure of the flexible cleaning assembly comprises an upper layer part moving along the length direction of the cleaning frame under the driving of the drive components and cleaning the robot wheels, and a lower layer part below the upper layer part; the cleaning mechanism is arranged below the flexible cleaning assembly and cleans the lower layer part of the flexible cleaning assembly by spraying cleaning liquid.

[0009] The drying unit comprises a downhill pedal arranged at the end of the cleaning frame away from the uphill pedal, and drying assemblies arranged at both sides of the downhill pedal; the drying assembly comprises an air guide box and a hot air machine fixed to the air guide box; the air guide box is provided with a strip-shaped air outlet parallel to the slope surface of the downhill pedal at the side close to the downhill pedal.

[0010] In an embodiment of the application, the drive components comprise a first roller and a second roller arranged at both ends of the cleaning frame respectively; the first roller and the second roller are both horizontally arranged, and the axis directions of the two rollers are perpendicular to the length direction of the cleaning frame; the first roller and the second roller rotate synchronously, and at least one of the two rollers is powered; the flexible cleaning assembly is wound around the first roller and the second roller and forms an annular structure with the head connected to the tail.

[0011] In an embodiment of the application, the cleaning mechanism comprises a plurality of cleaning nozzles arranged along the width direction of the cleaning frame.

[0012] In an embodiment of the application, the cleaning assembly further comprises a scraper mechanism arranged below the flexible cleaning assembly; the scraper mechanism comprises a first base fixed to the cleaning frame and a cleaning scraper movably connected to the first base; the cleaning scraper is arranged along the width direction of the cleaning frame and elastically abuts against the lower layer part of the flexible cleaning assembly, for cleaning the flexible cleaning assembly from below.

[0013] In an embodiment of the application, the cleaning assembly further comprises a tensioning mechanism for tensioning the flexible cleaning assembly; the tensioning mechanism comprises a tensioning roller, a second base arranged at both ends of the tensioning roller, and a tensioning connecting piece for connecting the tensioning roller and the second base.

[0014] The tensioning roller extends along the width direction of the cleaning frame; the tensioning roller is in contact with the outer surface of the lower layer part of the flexible cleaning assembly, and the top end of the tensioning roller is higher than the bottom end of the drive component; the second base is fixedly connected to the cleaning frame at the bottom, and the second base is provided with a second guide groove from the top downward;

[0015] The tensioning connecting piece comprises a second bolt and a second elastic member; the shaft end of the tensioning roller is located in the second guide groove and is in sliding fit with the second guide groove, the second bolt is vertically downwardly threaded through the rear frame of the top of the cleaning frame body and is in threaded connection with the shaft end of the tensioning roller, and the second elastic member is sleeved on the second bolt and is in elastic abutment with the rear frame of the top of the cleaning frame body and the shaft end of the tensioning roller.

[0016] In one embodiment of the application, the cleaning assembly further comprises a pressing mechanism located below the lower part; the pressing mechanism comprises a first pressing roller, a second pressing roller arranged in parallel below the first pressing roller, and a third base connected to both ends of the first pressing roller and the second pressing roller; the two ends of the first pressing roller and the second pressing roller are connected to the third base, and the distance between the first pressing roller and the second pressing roller is adjustable; the lower part of the flexible cleaning assembly is clamped between the first pressing roller and the second pressing roller.

[0017] In one embodiment of the application, the hot air blower is arranged at the top of the air guide box to introduce hot air into the air guide box.

[0018] In one embodiment of the application, the inner wall of the air guide box away from the air outlet side forms an inclined air guide part, and the angle between the surface of the air guide part and the horizontal plane is 40-50°.

[0019] In one embodiment of the application, the air guide part has the same slope as the air outlet, so that the inclined surface of the air guide part is opposite to the air outlet.

[0020] In one embodiment of the application, the drying assembly further comprises an air guide cover arranged at the air outlet to guide the hot air in the air guide box to the downhill pedal.

[0021] In one embodiment of the application, the upper plate surface of the downhill pedal is provided with a plurality of air guide grooves for improving the drying efficiency, and the air guide grooves extend along the width direction of the downhill pedal.

[0022] Beneficial effects: The robot caster cleaning system provided by the application comprises a cleaning unit and a drying unit. The cleaning unit comprises a cleaning assembly, a water collecting tank and an uphill pedal. The cleaning assembly comprises a cleaning frame body, a driving component, a flexible cleaning assembly and a cleaning mechanism. The drying unit comprises a downhill pedal and a drying assembly. When the robot moves to the cleaning assembly through the uphill pedal, the driving component drives the flexible cleaning assembly to run, so that the flexible cleaning assembly cleans the robot caster. The cleaned robot leaves the robot caster cleaning system through the downhill pedal, and in the process of passing through the downhill pedal, the drying assembly dries the robot caster. The robot caster cleaning system provided by the application does not need to be provided with a separate drying platform and a downhill pedal, which reduces the floor area of the cleaning system to a certain extent, reduces the cost investment and planning difficulty, improves the cleaning rate of the robot caster, and simultaneously forms a ring structure comprising an upper layer and a lower layer by winding the flexible cleaning assembly around the driving component, so that the upper layer of the flexible cleaning assembly cleans the robot caster, and the lower layer of the flexible cleaning assembly is cleaned and decontaminated by the cleaning mechanism. On the one hand, the flexible cleaning assembly constitutes a circulating cleaning and decontamination process, which can ensure the cleaning effect of the robot caster, avoid secondary pollution, improve the cleaning efficiency, and on the other hand, the cleaning liquid cannot splash to the robot, which reduces the damage to the robot and the drying difficulty, and provides the possibility for subsequent rapid drying in the downhill process. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to make the content of the application more easily understood, the application will be further described in detail below according to specific embodiments of the application and in conjunction with the drawings, in which

[0024] Figure 1 is a structural schematic diagram of the robot caster cleaning system provided by the application;

[0025] Figure 2 is Figure 1 is a sectional view of the robot caster cleaning system in the application;

[0026] Figure 3 is a structural schematic diagram of the cleaning assembly;

[0027] Figure 4 is a sectional view of the cleaning assembly;

[0028] Figure 5 is a structural schematic diagram of the scraper mechanism;

[0029] Figure 6 is a structural schematic diagram of the tensioning mechanism;

[0030] Figure 7 is a structural schematic diagram of the extrusion mechanism;

[0031] Figure 8 is a partial sectional view of the drying assembly;

[0032] Figure 9 is a structural schematic view of the downhill pedal;

[0033] Figure 10 is a schematic view of the hot air passing through the air guide groove and forming a vortex on the inner side of the robot caster.

[0034] Description of the Drawings: 1, cleaning unit; 100, cleaning assembly; 110, cleaning frame body; 111, cleaning support; 1111, upper support; 1112, lower support; 1113, column; 112, cleaning support plate; 120, driving component; 121, first roller; 122, second roller; 130, flexible cleaning assembly; 131, upper layer part; 132, lower layer part;

[0035] 140, scraper mechanism; 141, cleaning scraper; 142, first base; 1421, first guide groove; 143, scraper connecting piece; 1431, scraper mounting bracket; 1432, first bolt; 1433, first elastic piece;

[0036] 150, tensioning mechanism; 151, tensioning roller; 152, second base; 1521, second guide groove; 153, tensioning connecting piece; 1531, second bolt; 1532, second elastic piece;

[0037] 160, extrusion mechanism; 161, first extrusion roller; 162, second extrusion roller; 163, third base; 1631, third guide groove; 1632, fourth guide groove; 164, extrusion connecting piece; 1641, third bolt; 1642, third elastic piece;

[0038] 170, cleaning mechanism; 171, cleaning nozzle; 172, nozzle support;

[0039] 200, water collecting tank;

[0040] 300, uphill pedal;

[0041] 400, downhill pedal; 410, air guide groove;

[0042] 5, drying unit; 500, drying assembly; 510, air guide box; 511, air guide part; 520, hot air machine; 530, air outlet; 540, air guide cover;

[0043] 600, hot air;

[0044] 700, robot caster;

[0045] 800, pad. DETAILED DESCRIPTION

[0046] The application will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the application and implement it.

[0047] Referring to Figures 1-10 As shown in the drawings, the application provides a robot caster cleaning system, which comprises a cleaning unit 1 and a drying unit 5.

[0048] The cleaning unit 1 comprises at least one set of cleaning assemblies 100, a water collecting tank 200 and an uphill pedal 300. For example, when the width of the cleaning assembly 100 is greater than the width of the robot, the cleaning assembly 100 can be used to clean the casters on both sides of the robot simultaneously. When the width of the cleaning assembly 100 is equivalent to or less than the width of the robot, two sets of cleaning assemblies 100 can be used. For another example, when two sets of cleaning assemblies 100 are arranged side by side in the width direction of the cleaning assembly 100, and the width of the cleaning assembly 100 is equivalent to or less than the width of the robot, each set of cleaning assemblies can be used to clean the casters on one side of the robot.

[0049] The cleaning assembly 100 comprises a cleaning frame body 110, driving components 120 arranged at both ends of the cleaning frame body 110, a flexible cleaning assembly 130 arranged around the driving components 120 and forming a ring structure, and a cleaning mechanism 170 arranged at the bottom of the cleaning frame body. The ring structure of the flexible cleaning assembly should not be simply understood as a standard circular ring structure, but should be understood as a wide ring structure with the first end connected to the second end. Thus, the ring structure of the flexible cleaning assembly wound around the driving components forms an upper part and a lower part. Under the driving of the driving components, the upper part of the flexible cleaning assembly moves along the length direction of the cleaning frame body and cleans the casters of the robot resting thereon. To ensure that the robot can rest on the flexible cleaning assembly, a blocking device can be arranged to block the robot, or the active casters of the robot can be kept at the same running speed as the flexible cleaning assembly. In this embodiment, the second way is adopted. Of course, the upper part and the lower part of the flexible cleaning assembly are not fixed, and after the upper part of the flexible cleaning assembly cleans the casters of the robot, it will continue to move, turn at the driving components and move to the lower part to become the lower part. The cleaning mechanism is arranged below the flexible cleaning assembly, and the lower part of the flexible cleaning assembly is cleaned by spraying cleaning liquid to remove dirt therefrom and to soak the lower part of the flexible cleaning assembly. The lower part of the flexible cleaning assembly continues to move and then moves to the upper part to become the upper part. The cleaning liquid mentioned above is generally clean water or clean water with cleaning agent dissolved therein.

[0050] The water collecting tank is arranged below the cleaning assembly to collect the contaminated cleaning liquid after cleaning the flexible cleaning assembly. The uphill pedal is arranged at the front end of the cleaning assembly for the robot to move to the cleaning assembly. Specifically, the uphill pedal is arranged at the end of the cleaning frame body away from the drying unit.

[0051] The drying unit 5 includes the downhill pedal 400 and the drying assembly 500. The downhill pedal 400 is arranged at the rear end of the cleaning assembly. Specifically, the downhill pedal 400 is arranged at the end of the cleaning frame body 110 away from the uphill pedal 300. In this embodiment, the drying assembly is arranged in two groups, respectively arranged on both sides of the downhill pedal 400. The drying assembly 500 includes the air guide box 510 and the hot air machine 520 fixed on the air guide box 510. The air guide box 510 is arranged on one side of the downhill pedal 400 along the width direction. The air guide box 510 is provided with a strip-shaped air outlet 530 parallel to the slope surface of the downhill pedal 400 on the side close to the downhill pedal 400. The hot air machine 520 is arranged at the top of the air guide box for introducing high-temperature hot air into the air guide box and leading out through the air outlet 530 to dry the casters of the robot leaving the downhill pedal.

[0052] It should be noted that the robot as a whole is stationary on the flexible cleaning assembly, but the active casters of the robot are actively rotating, and the contact position of the active casters of the robot with the flexible cleaning assembly maintains the same linear speed. The driven casters of the robot are driven to rotate under the driving of the flexible cleaning assembly. When the robot enters the cleaning assembly 100 through the uphill pedal 300, the driving assembly drives the flexible cleaning assembly to run, so that the flexible cleaning assembly cleans the casters of the robot. The cleaned robot leaves the robot caster cleaning system through the downhill pedal. During the process of passing through the downhill pedal, the drying assembly dries the casters of the robot. Compared with the prior art, the robot caster cleaning system provided in this embodiment does not need to be provided with a separate drying platform and a downhill pedal. Therefore, the floor area of the cleaning system can be reduced to a certain extent, and the cost investment and planning difficulty can be reduced. At the same time, the travel distance of the robot can be shortened, thereby improving the cleaning rate of the casters of the robot. At the same time, the upper part of the flexible cleaning assembly cleans the casters of the robot, and the lower part of the flexible cleaning assembly is cleaned and polluted by the cleaning mechanism. On the one hand, the flexible cleaning assembly constitutes a circulating cleaning and pollution removal process, which can not only ensure the cleaning effect of the casters of the robot and avoid secondary pollution, but also clean and remove pollution simultaneously to improve the cleaning efficiency. On the other hand, the cleaning mechanism sprays cleaning liquid which is blocked by the flexible cleaning assembly and cannot splash onto the robot, thereby avoiding damage to the internal circuit and other structures of the robot; at the same time, the difficulty of subsequent drying can be reduced, so that the robot can be quickly dried during the short downhill process.

[0053] In this embodiment, the cleaning frame body 110 includes a cleaning support 111 connected above the water collecting tank 200 and a cleaning support plate 112. For example, the water collecting tank 200 and the cleaning support 111 can be fixedly connected in the manner of the cushion block 800. That is, the cushion block 800 is fixed at the bottom of the cleaning support 111 and arranged in the water collecting tank to support the cleaning support 111. The cleaning support plate 112 is parallel to the length direction of the cleaning support 111. The cleaning support 111 is a frame structure, which includes a square frame structure upper support 1111, a square frame structure lower support 1112 arranged below the upper support 1111 in parallel, and a vertical column 1113 connected between the upper support 1111 and the lower support 1112. The cleaning support plate 112 is horizontally arranged and connected with the upper support 1111 of the cleaning support 111. For example, the cleaning support plate 112 is fixedly connected with the inner wall of the upper support 1111 of the cleaning support 111 at both sides along the width direction of the cleaning support plate 112. The cleaning support plate 112 is arranged between the upper layer part 131 and the lower layer part 132 and in contact with the upper layer part 131 of the flexible cleaning assembly 130 to support the flexible cleaning assembly 130. The cleaning support 111 provides overall support for the cleaning unit, and the cleaning support plate 112 provides further support for the flexible cleaning assembly 130.

[0054] Further, the driving component 120 includes a first roller 121 arranged at one end of the cleaning frame body 110 along the length direction of the cleaning frame body 110 and a second roller 122 arranged at the other end of the cleaning frame body 110. The first roller 121 and the second roller 122 are both horizontally arranged and the axis directions of the two rollers are perpendicular to the length direction of the cleaning frame body 110. The first roller 121 and the second roller 122 rotate synchronously, and at least one of the two rollers has power. For example, at least one of the first roller 121 and the second roller 122 is an electric roller. The flexible cleaning assembly 130 is wound on the first roller 121 and the second roller 122 and forms a ring structure with the first end connected to the second end.

[0055] In some possible embodiments, the flexible cleaning assembly 130 includes a cleaning belt wound on the first roller 121 and the second roller 122 and a velvet cloth covering the outer layer of the cleaning belt. During the cleaning process, the velvet cloth on the cleaning belt wraps the caster of the robot, and in the wrapping process, the dirt particles, dust, oil stains and other pollutants on the caster of the robot are removed, thereby achieving the cleaning of the caster of the robot.

[0056] The flexible cleaning assembly after cleaning has certain dirt, which is cleaned by the cleaning mechanism 170 located below the lower part 132 of the flexible cleaning assembly. The cleaning mechanism 170 includes a plurality of cleaning nozzles 171 arranged along the width direction of the cleaning frame body 110, and the cleaning nozzles 171 are connected with high-pressure liquid. For example, the cleaning nozzles 171 are connected with a high-pressure water pump through a water pipe to obtain sufficient water pressure. In some possible implementations, the cleaning mechanism 170 further includes a nozzle support 172 fixed to the lower support 1112 of the cleaning support 111 along the width direction of the cleaning support 111. The plurality of cleaning nozzles 171 are arranged at intervals along the length direction of the nozzle support 172. By spraying cleaning liquid through the cleaning nozzles, the lower part of the flexible cleaning assembly can be cleaned and removed. Thus, the flexible cleaning assembly constitutes a circulating cleaning and dirt removal process, which can ensure the cleaning effect of the robot caster, avoid secondary pollution, and improve the cleaning efficiency. In addition, since the sprayed cleaning liquid is blocked by the flexible cleaning assembly, it will not splash onto the robot and will not be directly sprayed onto the robot caster, thereby avoiding the splashing of the cleaning liquid and avoiding damage to the internal circuit structure of the robot. Since only the robot caster needs to be dried, the difficulty of subsequent drying is also reduced, thereby enabling the robot to be quickly dried during the short process of descending the slope, thereby providing a suitable basis for the realization of the quick drying scheme during the descending process. In addition, the present embodiment does not need to strictly separate dry and wet as in the prior art by setting an isolation device, thereby reducing the system complexity and site occupation; and the cleaning system can realize automatic management of the cleaning process, which is low in human resource occupation.

[0057] Further, the cleaning assembly 100 further comprises a scraper mechanism 140, which is arranged on the lower support 1112 of the cleaning support 111 along the width direction of the cleaning frame 110 and below the flexible cleaning assembly 130, and is used to clean the lower part 132 of the flexible cleaning assembly 130 from below. The scraper mechanism 140 comprises a cleaning scraper 141 and a first base 142 connected to both ends of the cleaning scraper 141. The cleaning scraper 141 is arranged along the width direction of the cleaning frame 110 and elastically abuts against the lower part of the flexible cleaning assembly 130. Specifically, the cleaning scraper 141 comprises a scraper body and a sharp head arranged on the top of the scraper body, and the sharp head is in contact with the outer surface of the flexible cleaning assembly 130. In this way, the impurities on the flexible cleaning assembly 130 are cleaned by the relative movement between the sharp head and the flexible cleaning assembly 130 during the operation of the flexible cleaning assembly 130. The first base 142 is connected to the end of the scraper body, and the height of the sharp head is adjustable. The first base 142 is fixedly connected to the lower support 1112 of the cleaning frame 110, for example, by bolted connection. The two first bases 142 are oppositely arranged along the width direction of the cleaning support 111 and are fixedly connected to the lower support 1112 of the cleaning support 111.

[0058] The first base 142 and the scraper body are connected by a scraper connecting piece 143, which comprises a scraper mounting bracket 1431, a first bolt 1432 and a first elastic piece 1433. The scraper mounting bracket 1431 is connected to the bottom of the scraper body, and the length direction of the scraper mounting bracket 1431 is parallel to the width direction of the cleaning frame 110. The first base 142 is provided with a first guide groove 1421 downward from the top thereof, and the end of the scraper mounting bracket 1431 extends into the first guide groove 1421 and is in sliding fit with the first guide groove. The first bolt 1432 vertically penetrates the scraper mounting bracket 1431 from top to bottom and is screwed with the first base 142 through the first guide groove 1421. The first elastic piece 1433 is sleeved on the first bolt 1432 and abuts against the groove bottom of the first guide groove 1421 and the scraper mounting bracket 1431 at both ends.

[0059] Specifically, the height of the scraper mounting bracket 1431, and thus the height of the sharp head, can be adjusted by rotating the first bolt 1432, so that the cleaning scraper 141 elastically abuts against the lower part of the flexible cleaning assembly and maintains a certain pressure with the flexible cleaning assembly 130, thereby scraping the impurity particles on the surface of the flexible cleaning assembly 130 during the movement of the flexible cleaning assembly 130. By adjusting the height of the sharp head, the pressure can be changed to scrape impurity particles of different degrees of adhesion, and the application range is wide. According to the present embodiment, the sharp head of the cleaning scraper elastically contacts the velvet on the cleaning belt, and when the cleaning belt moves, the velvet moves relative to the cleaning scraper, thereby scraping the residual impurities on the velvet layer.

[0060] Further, the cleaning assembly 100 further comprises a tensioning mechanism 150 for tensioning the flexible cleaning assembly 130, the tensioning mechanism 150 comprising a tensioning roller 151, second bases 152 arranged at two ends of the tensioning roller 151, and a tensioning connecting piece 153 for connecting the tensioning roller 151 and the second bases 152; the two second bases 152 are arranged opposite to each other along the width direction of the cleaning support 111.

[0061] The tensioning roller 151 extends along the width direction of the cleaning frame body 110, the tensioning roller 151 is in contact with the outer surface of the lower portion 132 of the flexible cleaning assembly 130, and the top end of the tensioning roller 151 is higher than the bottom end of the driving component 120; in this way, the tensioning roller 151 can tension the upward lifting of the flexible cleaning assembly 130; the tensioning roller 151 comprises shaft ends at two ends and rotating portions rotatably connected with the shaft ends.

[0062] The second base 152 is fixedly connected with the frame body (i.e. the lower support 1112) at the bottom of the cleaning frame body 110, and the second base 152 is provided with a guide groove from the top to the bottom, which is defined as a second guide groove 1521.

[0063] The tensioning connecting piece 153 comprises a second bolt 1531 and a second elastic piece 1532; the shaft end of the tensioning roller 151 is located in the second guide groove 1521 and is in sliding fit with the second guide groove 1521, the second bolt 1531 is vertically downwardly threaded through the frame body (i.e. the upper support 1111) at the top of the cleaning frame body 110 and is threadedly connected with the shaft end of the tensioning roller 151, for example, the upper support 1111 is provided with a second penetrating hole for penetrating the second bolt 1531, and the shaft end of the tensioning roller 151 is provided with a second threaded hole; the second bolt 1531 is threadedly connected and fixed with the second threaded hole after penetrating the second penetrating hole; the second elastic piece 1532 is sleeved on the second bolt 1531 and the two ends thereof are elastically abutted against the frame body (i.e. the upper support 1111) at the top of the cleaning frame body 110 and the shaft end of the tensioning roller 151, respectively.

[0064] In some comparative examples, the interaction force directions of the second elastic piece 1532 and the flexible cleaning assembly 130 are opposite, and the effects of the two will partially offset to cause the pre-tightening force to decrease, and then the tensioning effect is not stable enough.

[0065] The tensioning mechanism 150 of the embodiment comprises a tensioning roller 151, a second base 152 and a tensioning connecting piece 153. The tensioning roller 151 is connected with the cleaning frame body 110 through the second base 152, and the tensioning roller 151 and the second base 152 are connected through the tensioning connecting piece 153. The second base 152 is provided with a second guide groove 1521, and the shaft end of the tensioning roller 151 can be slidably fitted on the second guide groove 1521. The second bolt 1531 of the tensioning connecting piece 153 suspends the tensioning roller 151 on the frame body (i.e. the upper support 1111) at the top of the cleaning frame body 110. Thus, with the rotation of the tensioning roller 151, the second bolt 1531 can move relatively with the tensioning roller 151, resulting in tensioning or relaxation. During the tensioning adjustment process, the screw connection between the second bolt 1531 and the tensioning roller 151 provides an upward pulling force to the tensioning roller 151. At this time, the contact surface of the screw connection between the second bolt 1531 and the tensioning roller 151 is the upper surface of the screw thread of the second bolt 1531 in contact with the lower surface of the screw thread hole of the shaft end of the tensioning roller 151. Both the flexible cleaning assembly 130 and the second elastic member 1532 exert a downward pressure on the tensioning roller 151 (the force directions of the flexible cleaning assembly 130 and the second elastic member 1532 are the same). Thus, the upper surface of the screw thread of the second bolt 1531 extrudes the lower surface of the screw thread hole of the shaft end of the tensioning roller 151, thereby increasing the maximum static friction of the contact surface. That is, the force of the second elastic member 1532 and the flexible cleaning assembly 130 on the tensioning roller 151 is to exert a pre-tightening force to prevent the relaxation of the second bolt 1531. Therefore, it can be seen that the tensioning mechanism 150 of the embodiment has good tensioning stability. In addition, during this process, the tensioning roller 151 first extrudes and removes the sewage in the flexible cleaning assembly 130, which facilitates the subsequent cleaning of the flexible cleaning assembly 130.

[0066] Further, the cleaning assembly 100 further comprises a squeezing mechanism 160 located below the lower portion 132, the squeezing mechanism 160 being connected in the cleaning frame body 110 close to the drying unit; the squeezing mechanism 160 comprises a first squeezing roller 161, a second squeezing roller 162 arranged in parallel below the first squeezing roller 161, and a third base 163 connected at both ends of the first squeezing roller 161 and the second squeezing roller 162. Both ends of the first squeezing roller 161 and the second squeezing roller 162 are connected with the third base 163 respectively. And the distance between the first squeezing roller 161 and the second squeezing roller 162 is adjustable. The lower portion of the flexible cleaning assembly is clamped between the first squeezing roller and the second squeezing roller, and the excess water in the flexible cleaning assembly is squeezed out by the first squeezing roller and the second squeezing roller, so that the flexible cleaning assembly can better clean the caster of the robot, and also as much as possible to reduce the water remaining on the robot caster, facilitating subsequent drying. The third base 163 is fixedly connected with the lower support 1112 of the cleaning frame body 110, and the third base 163 is provided with a third guide groove 1631 downwardly formed at the top thereof, and a fourth guide groove 1632 upwardly formed at the bottom thereof. Both ends of the first squeezing roller 161 are arranged in the third guide groove 1631. Both ends of the second squeezing roller 162 are arranged in the fourth guide groove 1632.

[0067] Specifically, the shaft end of the first squeezing roller 161 and the second squeezing roller 162 is connected with the third base 163 through a squeezing connector 164. The squeezing connector 164 comprises a third bolt 1641 and a third elastic member 1642, the third bolt 1641 vertically penetrating the shaft end of the first squeezing roller 161, and being screwed with the second squeezing roller 162 after the third base 163, and the third elastic member 1642 is sleeved on the third bolt 1641 and elastically abuts on both ends of the shaft end of the first squeezing roller 161 and the groove bottom of the third guide groove 1631 respectively. Specifically, the third bolt 1641 and the third elastic member 1642 are used to adjust the distance between the first squeezing roller 161 and the second squeezing roller 162, and the elastic force of the third elastic member can be adjusted by adjusting the third bolt, and then the squeezing force between the first squeezing roller and the second squeezing roller is adjusted, so as to adjust the residual water in the flexible cleaning assembly.

[0068] In the embodiment, the hot air machine 520 is arranged on the top of the air guide box 510 to introduce the hot air 600 with high temperature into the air guide box 510, and can reduce the occupation of the horizontal space. On the side away from the air outlet 530, the inner wall of the air guide box 510 is formed with an air guide part 511 which is inclined to the side of the air outlet. The angle between the surface of the air guide part 511 and the horizontal plane is 40-50°. For example, the angle between the surface of the air guide part 511 and the horizontal plane can be 40°, 45° or 50°. In some possible embodiments, the air guide part 511 can be formed by arranging an inclined side plate in the air guide box 510. In other possible embodiments, the air guide part 511 can be formed by adaptive bending deformation of the shell structure of the air guide box 510.

[0069] The common solution in the prior art is to introduce the hot air of the hot air machine into the air guide box, form high pressure in the air guide box, and then guide out through the air outlet on the side of the air guide box for drying. This way can cause the high-temperature and high-pressure gas in the air guide box to damage the sealing element greatly. Moreover, it can cause great loss of kinetic energy of the hot air, and further cause the drying efficiency of the robot caster to be reduced. In the embodiment, the normal line of the surface of the air guide part 511 is inclined upward and points to the side of the air outlet. In this case, the air flow of the hot air machine 520 enters the air guide box 510 and hits the air guide part 511 vertically downward, and then the direction of the air flow is converted to the horizontal direction and directly guided out from the air outlet 530, so that the loss of kinetic energy of the hot air 600 can be reduced as much as possible, so that the deviation between the direction of the hot air 600 introduced by the hot air machine 520 and the direction of the hot air 600 guided out from the air outlet 530 can be avoided, the kinetic energy of the introduced hot air 600 can be greatly lost, and the heat in the air guide box 510 can be greatly accumulated; and the flow rate of the hot air 600 guided out from the air outlet 530 can be reduced, so that the drying efficiency of the caster can be improved.

[0070] Further, the air guide part 511 has the same slope as the air outlet 530. Or, the air guide part 511 has the same slope as the slope of the downhill pedal, so that the inclined surface of the air guide part 511 is opposite to the air outlet 530. The hot air 600 introduced by the hot air machine 520 can be maximized to be directly guided out through the air outlet, without being blocked. In addition, the drying assembly 500 further comprises an air guide cover 540 arranged at the air outlet 530. The air guide cover 540 guides the hot air 600 in the air guide box 510 to the downhill pedal 400, so as to further improve the drying efficiency of the robot caster cleaning system.

[0071] Further, the upper plate surface of the downward slope pedal 400 is provided with a plurality of air guide grooves 410 for improving the drying efficiency. The air guide grooves 410 extend along the width direction of the downward slope pedal 400. On one hand, the cross air from the air guide box 510 will partially enter the air guide grooves 410 and flow to the bottom and inner side of the robot caster 700 under the guidance of the air guide grooves 410, and form a vortex on the inner side of the robot caster 700 to dry the bottom and inner side of the wheel. The cross air that is not introduced into the air guide grooves will quickly dry the outer side of the wheel. Thus, the drying efficiency of the robot caster 700 is improved by the air guide grooves 410. On the other hand, if there is water accumulation on the robot caster 700, it will also fall into the air guide grooves 410, thereby avoiding the robot from slipping.

[0072] In some possible embodiments, the air guide grooves 410 have a wave structure.

[0073] In some possible embodiments, the robot caster cleaning system further comprises isolation devices arranged on both sides of the cleaning unit and the drying unit.

[0074] Obviously, the above embodiments are only examples for the purpose of clarity, and are not intended to limit the embodiments. Based on the above description, those skilled in the art can make other different forms of changes or modifications. Here, it is not necessary and impossible to exhaust all the embodiments. The obvious changes or modifications derived therefrom are still within the protection scope of the invention.

Claims

1. A robotic caster cleaning system, characterized by: The application relates to a cleaning and drying unit for a robot, which comprises the following parts: a cleaning unit, which comprises at least one cleaning assembly, a water collecting tank arranged below the cleaning assembly and an uphill pedal arranged at the front end of the cleaning assembly; the cleaning assembly comprises a horizontal cleaning frame, driving parts arranged at the two ends of the cleaning frame, a flexible cleaning assembly arranged around the driving parts and forming a ring structure and a cleaning mechanism arranged at the bottom of the cleaning frame; the ring structure of the flexible cleaning assembly comprises an upper layer part which moves along the length direction of the cleaning frame under the driving of the driving parts and cleans the robot wheels and a lower layer part arranged below the upper layer part; the cleaning mechanism is arranged below the flexible cleaning assembly and cleans the lower layer part of the flexible cleaning assembly by spraying cleaning liquid; a drying unit, which comprises a downhill pedal arranged at the end of the cleaning frame away from the uphill pedal and drying assemblies arranged at the two sides of the downhill pedal; the drying assembly comprises an air guide box and a hot air machine fixed to the air guide box; a strip-shaped air outlet parallel to the slope surface of the downhill pedal is arranged on the side of the air guide box close to the downhill pedal; the cleaning assembly further comprises a tensioning mechanism for tensioning the flexible cleaning assembly, the tensioning mechanism comprises a tensioning roller, a second base arranged at the two ends of the tensioning roller and a tensioning connecting piece for connecting the tensioning roller and the second base; the tensioning roller extends along the width direction of the cleaning frame, the tensioning roller is in contact with the outer surface of the lower layer part of the flexible cleaning assembly and the top end of the tensioning roller is higher than the bottom end of the driving part; the second base is fixedly connected with the frame at the bottom of the cleaning frame, the second base is provided with a second guide groove from the top to the bottom; the tensioning connecting piece comprises a second bolt and a second elastic piece; the shaft end of the tensioning roller is located in the second guide groove and is in sliding fit with the second guide groove, the second bolt is vertically downwardly penetrated through the frame at the top of the cleaning frame and is in threaded connection with the shaft end of the tensioning roller, the second elastic piece is sleeved on the second bolt and the two ends of the second elastic piece are elastically abutted against the frame at the top of the cleaning frame and the shaft end of the tensioning roller respectively; the cleaning assembly further comprises a pressing mechanism arranged below the lower layer part; the pressing mechanism comprises a first pressing roller, a second pressing roller arranged in parallel below the first pressing roller, a third base connected at the two ends of the first pressing roller and the second pressing roller; the two ends of the first pressing roller and the second pressing roller are connected with the third base respectively, and the distance between the first pressing roller and the second pressing roller is adjustable; the lower layer part of the flexible cleaning assembly is clamped between the first pressing roller and the second pressing roller.

2. The robotic caster cleaning system of claim 1, wherein: The driving part comprises a first roller and a second roller respectively arranged at two ends of the cleaning frame body; the first roller and the second roller are both horizontally arranged, and the axial directions of the two rollers are perpendicular to the length direction of the cleaning frame body; the first roller and the second roller rotate synchronously, and at least one of the two rollers is powered; the flexible cleaning assembly is wound on the first roller and the second roller and forms a ring structure with the head connected to the tail.

3. The robotic caster cleaning system of claim 1, wherein: The cleaning mechanism comprises a plurality of cleaning nozzles arranged along the width direction of the cleaning frame body.

4. The robotic caster cleaning system of claim 1, wherein: The cleaning assembly further comprises a scraper mechanism arranged below the flexible cleaning assembly, the scraper mechanism comprises a first base fixed to the cleaning frame body and a cleaning scraper movably connected to the first base, the cleaning scraper is arranged along the width direction of the cleaning frame body and elastically abuts against the lower part of the flexible cleaning assembly, and is used for cleaning impurities from below the flexible cleaning assembly.

5. The robotic caster cleaning system of claim 1, wherein: The hot air machine is arranged at the top of the air guide box to introduce high-temperature hot air into the air guide box.

6. The robotic caster cleaning system of claim 5, wherein: The inner wall of the air guide box away from the air outlet side forms an inclined air guide part, and the included angle between the surface of the air guide part and the horizontal plane is 40-50°.

7. The robotic caster cleaning system of claim 6, wherein: The air guide part has the same slope as the air outlet, so that the inclined surface of the air guide part is opposite to the air outlet.

8. The robotic caster cleaning system of claim 1, wherein: The upper plate surface of the downhill pedal is provided with a plurality of air guide grooves for improving the drying efficiency, and the air guide grooves extend along the width direction of the downhill pedal.

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