Point-beating wall-climbing robot

Abstract

The invention relates to the technical field of cleaning, in particular to a point-beating wall-climbing robot which comprises a rack, a cleaning disc arranged below the rack, a cleaning cutter disc arranged in the cleaning disc and walking wheels located on the two sides of the rack, a connecting box is arranged on the rack, a vertical first groove is formed in one side of the connecting box, and a second groove is formed in the other side of the connecting box. A swing arm is arranged outside the connecting box, a transverse second groove is formed in the end, close to the connecting box, of the swing arm, a shaft sleeve is arranged in the connecting box, a pin is arranged on one side of the shaft sleeve and penetrates through the first groove of the connecting box and the second groove of the swing arm in a matched mode, and the other end of the swing arm is connected with a rotary disc in a matched mode through a groove key. The swing arm drives the shaft sleeve to move up and down through the pin; a plurality of bearings are arranged in the shaft sleeve in a close fit mode, hollow rotating shafts are arranged in the bearings, and the shaft sleeve and the hollow rotating shafts penetrate through the rack to be connected with the cleaning cutter head. The cleaning machine has the advantage that the friction area and friction force between the cleaning machine and the working surface are increased.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning, in particular to a point-tapping wall-climbing robot. Background Art

[0002] As the manufacturing industry develops towards modernization and technology, the demand for industrial cleaning robots continues to rise. Compared with household sweeping robots, these robots have a larger cleaning area and higher cleaning efficiency. However, current industrial cleaning robots generally have some problems, such as being too large to enter narrow spaces for cleaning, and being unable to fully clean irregular surfaces due to limited cleaning angles. Therefore, the market is in urgent need of a new type of industrial cleaning robot that should have a compact structure, a sturdy frame, and be able to adapt to irregular surfaces for dynamic adjustment. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a point-tapping wall-climbing robot to make the structure of an industrial cleaning machine more compact and adapt to the undulating working surface.

[0004] In order to achieve the above-mentioned purpose, a point-tapping wall-climbing robot is designed, including a frame, a cleaning disc arranged under the frame, a cleaning knife disc arranged in the cleaning disc and walking wheels located on both sides of the frame, the frame is provided with a connecting box, a vertical first groove is provided on one side of the connecting box, a swing arm is provided on the outside of the connecting box, a horizontal second groove is provided on the end of the swing arm close to the connecting box, a sleeve is provided in the connecting box, a pin is provided on one side of the sleeve, the pin fits through the first groove of the connecting box and the second groove of the swing arm, the other end of the swing arm is connected to a turntable through a slot key, the turntable drives the swing arm to rotate, and the swing arm drives the sleeve to move up and down through the pin; a plurality of bearings are tightly arranged in the sleeve, a hollow rotating shaft is provided in the bearing, and the sleeve and the hollow rotating shaft pass through the frame to connect the cleaning knife disc.

[0005] Preferably, the robot provided by the present invention also includes other technical features, wherein a chassis is arranged under the frame, a through hole of the same size as the cleaning tray is opened at the front of the chassis, and the cleaning tray is arranged in the through hole and is connected to the chassis.

[0006] Preferably, the robot provided by the present invention also includes other technical features, wherein a connecting plate is further provided on the bottom surface of the rear portion of the chassis, and a transverse steering wheel is provided at the bottom of the connecting plate.

[0007] Preferably, the robot provided by the present invention also includes other technical features, wherein a cleaning drive device is provided at the top end of the sleeve, and the cleaning drive device is fixedly connected to the rotating shaft and drives the rotating shaft to rotate.

[0008] Preferably, the robot provided by the present invention also includes other technical features, wherein a turntable driving device is arranged on the top of the frame, and the turntable driving device is used to drive the turntable to rotate.

[0009] Compared with the prior art, the present invention has the following advantages: By setting the connecting box, pins and turntable, the movable cleaning disc can achieve up and down displacement in the vertical direction, so as to adapt to the ups and downs of the working surface, increase the friction area and friction force between the cleaning machine and the working surface, and make the cleaning operation more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a top perspective view of the present invention; Figure 2 It is a bottom-up stereogram of the present invention; Figure 3 It is a rear view of the present invention; Figure 4 is a bottom view of the present invention; Figure 5 is a top view of the present invention; Figure 6 is a rear perspective view of a perspective electrical device of the present invention; Figure 7 yes Figure 3 AA surface section view; Figure 8 It is a partial perspective view of the present invention; Fig. 9 It is a partial perspective view of the present invention with the connection box and the swing arm hidden; Fig.10 It is a partial perspective view of the present invention with the shaft sleeve hidden; In the figure: 1, frame, 2, cleaning disc, 3, cleaning cutter disc, 4, walking wheel, 5, connecting box, 6, first groove, 7, swing arm, 8, second groove, 9, bushing, 10, pin, 11, slot key, 12, turntable, 13, bearing, 14, rotating shaft, 15, chassis, 16, connecting plate, 17, steering wheel, 18, negative pressure tube, 19, connecting ear, 20, connecting rod, 21, spring, 22, upper step, 23, lower step, 24, electrical component, 25, turntable drive device, 26, cleaning drive device, 27, bristles. DETAILED DESCRIPTION

[0011] In order to make the purpose, principle and structure of the present invention more clear, it is further described below in conjunction with the drawings and specific embodiments.

[0012] See also Figure 1 The present invention provides a point-penetrating wall-climbing robot, comprising: a frame 1, a cleaning disc 2 and a cleaning cutter disc 3.

[0013] Embodiment 1: See also Figures 1 to 10 .

[0014] The two sides of the frame 1 are respectively movably connected with a group of running wheels 4. The bottom of the frame 1 is fixedly connected with a chassis 15.

[0015] The front part of the chassis 15 is provided with a through hole of the same size as the cleaning disc 2, and the cleaning disc 2 is movably arranged in the through hole. The cleaning disc 2 is a step structure, wherein the upper step 22 extends through the through hole to the top of the chassis 15, and the lower step 23 is located below the chassis 15 and has a diameter slightly larger than the through hole on the chassis 2. A number of springs 21 are connected between the surface of the lower step 23 and the bottom surface of the chassis 15. The surface of the lower step 23 is also provided with a number of vertical connecting rods 20, and the chassis 15 above the connecting rods 20 is provided with a number of corresponding connecting ears 19, and the connecting rods 20 are movably fitted through the middle holes of the connecting ears 19. The cleaning disc 2 is a hollow structure, wherein a cleaning blade disc 3 is arranged in the hollow cavity. Bristles 27 are arranged on the bottom circumference of the cleaning disc 2.

[0016] A shaft sleeve 9 is vertically penetrated in the middle of the cleaning disc 2, and the shaft sleeve 9 is a hollow columnar body. A cleaning drive device 26 is arranged at the top of the shaft sleeve 9, and a plurality of bearings 13 are arranged vertically in the shaft sleeve 9. A rotating shaft 14 is penetrated in the middle hole of the bearing 13, and the top end of the rotating shaft 14 is connected to the cleaning drive device 26, and the bottom end is connected to the cleaning blade disc 3.

[0017] The cleaning tray 2 is also provided with a connection box 5, which is arranged outside the sleeve 9 and covers the sleeve 9. The two sides of the connection box 5 are provided with first vertical grooves 6, and the position of the first grooves 6 is the projection of the sleeve 9 on the side plate of the connection box 5.

[0018] A turntable drive device 25 is provided at the rear of the frame 1, and a turntable 12 is provided at the front end of the turntable drive device 25 and connected by gear meshing or belts to achieve force transmission. A swing arm 7 is provided on the side of the turntable 12, and the rear end of the swing arm 7 is matched with the turntable 12 through a slot key 11, and a second groove 8 is opened in the front end of the swing arm 7 in the transverse direction, and the position of the second groove 8 partially overlaps with the first groove 6. A pair of pins 10 are provided on both sides of the shaft sleeve 9, and the pins 10 pass through the first groove 6 and the second groove 8 respectively, and the diameter of the pins is smaller than the groove width of the first groove 6 and the second groove 8.

[0019] The turntable drive device 25 drives the turntable 12 to rotate, and the turntable 12 drives the swing arm 7 to swing up and down through the slot key 11. The pin 10 slides in the first groove 6 as the swing arm 7 swings up and down. When the swing arm 7 is in a horizontal position, the pin 10 is located in the first groove 6 at the end closest to the turntable drive device 25; when the swing arm 7 swings, the pin 10 moves along the first groove 6 in a direction away from the turntable drive device 25.

[0020] The cleaning disc 2 is also provided with a plurality of through holes, through which a plurality of negative pressure pipes 18 draw out the debris in the cavity of the cleaning disc 2 to prevent the accumulation of the debris in the cavity from affecting the rotation of the cleaning disc 3 .

[0021] A connecting plate 19 is also provided on the rear bottom surface of the chassis 15, and the connecting plate 19 is a vertical plate structure vertically fixed on the chassis 15. A steering wheel 17 is provided at the lower end of the connecting plate 19. The steering wheel 17 may be a universal wheel, or may be controlled and driven by a plurality of electrical components 24 provided on the rear top surface of the chassis 15 and above the steering wheel 17.

[0022] It is worth mentioning that: The arrangement of the connecting rod 20 and the connecting ear 19 enables both horizontal limitation and vertical free movement between the cleaning tray 2 and the chassis 15. The arrangement of the spring 21 damps the up and down movement between the cleaning tray 2 and the chassis 15 to avoid collision between the two, and the spring 21 can also apply the gravity of the entire device to the cleaning tray 2 in the form of elastic pressure, so that the pressure between the cleaning tray 2 and the working surface is increased, the friction is increased, and the cleaning effect is better.

[0023] The rotating shaft 14 can rotate freely in the sleeve 9 under the action of the bearing 13, and when the cleaning blade disc 3 is subjected to external impact force, the impact force can be absorbed by the bearing 13 on the peripheral side when it is transmitted to the rotating shaft 14, thereby avoiding stress fracture of the rotating shaft 14. The cleaning drive device 26 can drive the rotating shaft 14 and the cleaning blade disc 3 to rotate.

[0024] The principle is: due to the lateral limit between the cleaning tray 2 and the bottom tray 15, the sleeve 9 on the cleaning tray 2 can only move up and down in the vertical direction, and the pin 10 on the sleeve 9 can also only move up and down in the vertical direction. When the swing arm 7 is lifted upward, the lower wall of the first groove 6 will generate an inclined upward lifting support force on the pin 10, and the inclined force can be decomposed into a normal force in the vertical direction and a lateral tangential force. The normal force can lift the pin 10 upward to generate vertical movement. In the lateral direction, the pin 10 is subjected to the lateral friction force of the first groove 6, the tangential force of the swing arm 7 and the limiting reaction force of the sleeve 9. The limiting reaction force of the sleeve 9 will increase with the increase of the tangential force due to the fixed connection, and the range is close to infinity. Therefore, when the tangential force begins to be generated, the reaction force will also increase. When the combined force of the tangential force and the reaction force is greater than the static friction force, the pin 10 breaks through the static friction force and begins to move, and the displacement direction is the direction of the reaction force, that is, the direction away from the turntable drive device 25. Similarly, when the swing arm 7 is pressed down, the pin 10 can also move in the first groove 6. The first groove 6 makes the curved motion of the swing arm 7 not limited when it is transmitted to the pin 10, and the curved motion of the swing arm 7 is also the pin 10 driving the cleaning disc 2 up and down.

[0025] The up and down movement of the cleaning disc 2 enables the machine to adjust the height of the cleaning parts in response to the uneven working surface, thereby improving the cleaning efficiency and optimizing the cleaning effect.

[0026] The second groove 8 allows the pin 10 of the shaft sleeve 9 fixedly connected to the cleaning disc 2 to move slightly in the vertical direction within the second groove 8 without being restricted when the cleaning disc 2 moves up and down.

[0027] The movement of the device of this embodiment can be achieved by controlling the rotation speed, steering, speed difference, etc. of the walking wheels 4 on both sides. The steering wheel 17 is used for auxiliary movement to eliminate the unexpected vibration of the frame 1 caused by the cleaning blade 3 rubbing against the ground for cleaning, so that the movement of the device of this embodiment is more stable.

[0028] The electrical device 24 can control any driving device or steering wheel 17 in the device of the present invention.

[0029] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solutions and novel concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A point-penetrating wall-climbing robot, comprising a frame, a cleaning tray disposed below the frame, a cleaning cutter disc disposed in the cleaning tray, and running wheels located on both sides of the frame, characterized in that: The frame is provided with a connection box, a first vertical groove is provided on one side of the connection box, a swing arm is provided on the outside of the connection box, a second horizontal groove is provided on one end of the swing arm close to the connection box, a shaft sleeve is provided in the connection box, a pin is provided on one side of the shaft sleeve, the pin passes through the first groove of the connection box and the second groove of the swing arm, the other end of the swing arm is connected to the turntable through a slot key, the turntable drives the swing arm to rotate, and the swing arm drives the shaft sleeve to move up and down through the pin; A plurality of bearings are tightly arranged in the shaft sleeve, a hollow rotating shaft is arranged in the bearing, and the shaft sleeve and the hollow rotating shaft pass through the frame to connect the cleaning cutter disc.

2. A tapping wall-climbing robot as claimed in claim 1, characterized in that: A chassis is arranged below the frame, a through hole having the same size as the cleaning tray is opened at the front of the chassis, and the cleaning tray is arranged in the through hole and is matched and connected with the chassis.

3. A tapping wall-climbing robot as claimed in claim 2, characterized in that: A connecting plate is also arranged on the bottom surface of the rear part of the chassis, and a transverse steering wheel is arranged at the bottom of the connecting plate.

4. The point-tapping wall-climbing robot according to claim 1, characterized in that: A cleaning drive device is arranged at the top end of the shaft sleeve, and the cleaning drive device is fixedly connected to the rotating shaft and drives the rotating shaft to rotate.

5. The point-tapping wall-climbing robot according to claim 1, characterized in that: A turntable driving device is arranged on the top of the frame, and the turntable driving device is used for driving the turntable to rotate.

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