Cleaning robot

Abstract

The invention provides a cleaning robot. The invention provides a cleaning robot. The cleaning robot comprises a magnetic suction chassis and a cleaning mechanism; the magnetic suction chassis comprises a magnetic suction driving wheel set, a magnetic suction driven wheel set and a connecting assembly. The magnetic attraction driving wheel set comprises a driving wheel set body and a first arc-shaped magnet assembly. The driving wheel set comprises a cabin body, a driving motor assembly installed in the cabin body and a set of wheels installed on the two sides of the cabin body and driven by the driving motor assembly. The first arc-shaped magnet assembly is arranged on the side, facing the wall face, of the cabin body. The magnetic attraction driven wheel set comprises a universal wheel set, a swing assembly and a second arc-shaped magnet assembly. The swing assembly is arranged on an axle of the universal wheel set. The second arc-shaped magnet assembly is fixed to the side, facing the wall face, of the swing assembly. The swinging assembly is used for allowing the universal wheel set to swing up and down; one end of the connecting assembly is fixed to the cabin body, and the other end of the connecting assembly is fixed to the swing assembly so that the magnetic attraction driven wheel set can be connected to the magnetic attraction driving wheel set. And the cleaning mechanism is mounted on the cabin body.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a cleaning robot. Background Art

[0002] As the core of global maritime cargo transportation, bulk carriers undertake the transportation of a large number of bulk goods, such as coal, ore, grain, etc. Bulk carriers usually carry different types of cargo according to the needs of different voyages. When changing cargo, the cargo hold must be cleaned to ensure the cleanliness of the cargo hold and avoid contamination between different cargoes.

[0003] The existing flushing methods are to use a water gun to flush the high places at the bottom of the cabin, or climb up a high ladder and use a long-pole scraper to scrape and flush, or build a scaffold to flush. However, when flushing the bottom of the cabin with a water gun, although it can reach high places, the impact force has been greatly weakened and cannot be effectively flushed; when climbing up a high ladder to flush, there are some places that the long pole cannot reach, the work is very difficult, the efficiency is very low, and it is very dangerous; when flushing with a scaffold, it takes longer and is very inefficient. Summary of the invention

[0004] In view of this, the present application provides a cleaning robot for performing cleaning operations on the surface of ferromagnetic materials to improve the flushing efficiency and flushing effect and avoid the danger of high-altitude operations.

[0005] Specifically, the present application is implemented through the following technical solutions:

[0006] In a first aspect, the present application provides a cleaning robot, the cleaning robot comprising a magnetic chassis and a cleaning mechanism; the magnetic chassis comprises a magnetic driving wheel set, a magnetic driven wheel set and a connecting assembly; wherein;

[0007] The magnetic attraction driving wheel assembly includes a driving wheel assembly and a first arc-shaped magnet assembly; the driving wheel assembly includes a cabin, a driving motor assembly installed in the cabin, and a group of wheels installed on both sides of the cabin and driven by the driving motor assembly; the first arc-shaped magnet assembly is arranged on a side of the cabin facing the wall;

[0008] The magnetic driven wheel assembly comprises a universal wheel assembly, a swing assembly and a second arc-shaped magnet assembly; the swing assembly is arranged on the axle of the universal wheel assembly; the second arc-shaped magnet assembly is fixed on the side of the swing assembly facing the wall; the swing assembly is used to allow the universal wheel assembly to swing up and down;

[0009] One end of the connecting assembly is fixed to the cabin, and the other end is fixed to the swing assembly, so as to connect the magnetic driven wheel assembly to the magnetic driving wheel assembly;

[0010] The cleaning mechanism is installed on the cabin body.

[0011] Optionally, the length of the first arc-shaped magnet assembly along the forward direction is greater than the length of the cabin along the forward direction; the height of the first part of the first arc-shaped magnet assembly located in front of the axle in the vertical direction is higher than the height of the second part of the first arc-shaped magnet located behind the axle in the vertical direction, and the curvature of the first part is greater than the curvature of the second part;

[0012] The curvature of the second arc-shaped magnet assembly is consistent with the curvature of the universal wheel assembly, the vertical height of the third part of the second arc-shaped magnet assembly in front of the axle is consistent with the vertical height of the fourth part of the second arc-shaped magnet assembly behind the axle, and the curvature of the third part is consistent with the curvature of the fourth part.

[0013] Optionally, the swing assembly includes a suspension bridge, a swing shaft, a first seat bearing and a second seat bearing; wherein,

[0014] The suspension bridge is passed through and fixed on the axle of the universal wheel set;

[0015] The swing shaft is fixed on the suspension bridge in a manner perpendicular to the axle;

[0016] The first bearing block and the second bearing block are respectively mounted on both ends of the swing shaft.

[0017] Optionally, a front hinge support is provided at the front end of the first arc-shaped magnet facing the forward direction, and a rear hinge support is provided at the rear end of the arc-shaped magnet facing the forward direction; wherein,

[0018] A first connecting member is provided at the front end of the cabin body in the forward direction, and a second connecting member is provided at the rear end of the cabin body in the forward direction;

[0019] The front hinge support is connected to the first connecting member;

[0020] The rear hinge support is connected to the second connecting member through a height adjustment component, so that when the first arc-shaped magnet is lifted up by an obstacle, the height adjustment component is also lifted up.

[0021] Optionally, the front end of the second arc-shaped magnet facing the forward direction is provided with a first connection seat; the rear end of the second arc-shaped magnet facing the forward direction is provided with a second connection seat; the front end of the suspension bridge facing the forward direction is provided with a first connection portion; the rear end of the suspension bridge facing the forward direction is provided with a second connection portion; wherein,

[0022] The first connection seat is fixed to the first connection part through a first floating mechanism, and the second connection seat is fixed to the second connection part through a second floating mechanism, so that when the second arc-shaped magnet assembly contacts an obstacle, the second magnet assembly can rise accordingly.

[0023] Optionally, the cleaning mechanism is any of the following flushing devices: a water cannon, a flushing device with an articulated arm, or a nozzle array consisting of multiple nozzles.

[0024] Optionally, the cleaning mechanism is mounted on the cabin through a bracket; the cleaning mechanism comprises an interconnected component, a nozzle array consisting of a plurality of nozzles, and a driving mechanism; the interconnected component, the nozzle array and the driving mechanism are all mounted on the bracket;

[0025] One end of the interconnecting component is connected to an external water supply system, and the other end of the interconnecting component is connected to each nozzle in the nozzle array;

[0026] The driving mechanism is used to drive a specific nozzle in the nozzle array to adjust the direction.

[0027] Optionally, the magnetic drive wheel set is a dual-wheel drive, differential turning drive wheel set.

[0028] Optionally, the first arc-shaped magnet assembly and / or the second arc-shaped magnet assembly includes an arc-shaped magnet and a shell covering the arc-shaped magnet.

[0029] Optionally, the cleaning robot can be used to clean the hull.

[0030] The cleaning robot provided by the present application is provided with a magnetic chassis and a cleaning mechanism, and a magnetic driving wheel group, a magnetic driven wheel group and a connecting component are provided on the magnetic chassis. In this way, on the first hand, through the cooperation of the magnetic driving wheel group and the magnetic driven wheel group, the adsorption force of the cleaning robot on the surface of ferromagnetic materials can be enhanced, so that the cleaning robot can stably move on the surface of ferromagnetic materials and perform cleaning operations. In this way, it can easily reach a height and wash stains at a close distance, which can provide washing efficiency and washing effect and avoid the danger of high-altitude operations; on the second hand, through the cooperation of the first arc magnet and the second arc magnet, the cleaning robot can be effectively prevented from slipping, helping the cleaning robot to successfully complete the cleaning operation; on the third hand, by setting different forms of cleaning mechanisms, different forms of washing effects can be achieved to adapt to a variety of washing scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of a cleaning robot according to an exemplary embodiment of the present application;

[0032] Figure 2This is a schematic diagram of a magnetic drive wheel assembly shown as an exemplary embodiment of the present application;

[0033] Figure 3 This is a schematic diagram of a magnetic driven wheel assembly shown in an exemplary embodiment of the present application;

[0034] Figure 4 This is a schematic diagram showing the implementation principle of the swing of a universal wheel set according to an exemplary embodiment of the present application;

[0035] Figure 5 A schematic diagram of a cleaning mechanism according to an exemplary embodiment of the present application;

[0036] Figure 6 A schematic diagram of a cleaning mechanism according to another exemplary embodiment of the present application;

[0037] Figure 7 A schematic diagram of a cleaning mechanism according to another exemplary embodiment of the present application;

[0038] Figure 8 A front view of a cleaning mechanism shown in yet another exemplary embodiment of the present application;

[0039] Fig. 9 This is a schematic diagram showing the implementation principle of a cleaning robot passing through inner and outer corner walls according to an embodiment of the present application;

[0040] Fig.10 A schematic diagram of a first arc-shaped magnet assembly shown as an exemplary embodiment of the present application;

[0041] Fig.11 This is a schematic diagram of a second arc-shaped magnet assembly according to an exemplary embodiment of the present application.

[0042] Description of reference numerals:

[0043] 100: Magnetic chassis;

[0044] 1: Magnetic drive wheel set;

[0045] 11: driving wheel set;

[0046] 111: Cabin;

[0047] 1111: first connecting member;

[0048] 1112: second connecting member;

[0049] 112: driving motor assembly;

[0050] 113: A set of wheels;

[0051] 12: first arc-shaped magnet assembly;

[0052] 13: front hinge support;

[0053] 14: rear hinge support;

[0054] 15: Adjust the height of the component;

[0055] 151: cylindrical pin;

[0056] 152: hinge bolt;

[0057] 153: Nut;

[0058] 2: Magnetic driven wheel set;

[0059] 21: Universal wheel set;

[0060] 211: axle of universal wheel set;

[0061] 22: Swing assembly;

[0062] 221: Suspension bridge;

[0063] 2211: first connection portion;

[0064] 2212: second connection portion;

[0065] 222: swing axis;

[0066] 223: first bearing block;

[0067] 224: second seat bearing;

[0068] 23: second arc-shaped magnet assembly;

[0069] 231: first connection socket;

[0070] 232: second connection socket;

[0071] 24: first floating mechanism;

[0072] 25: Second floating mechanism

[0073] 3: Connect components;

[0074] 31: first connecting frame;

[0075] 32: second connecting frame;

[0076] 200: cleaning mechanism;

[0077] 41: Intercommunication components;

[0078] 42: nozzle array;

[0079] 43: driving mechanism;

[0080] 44: Bracket. DETAILED DESCRIPTION

[0081] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0082] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0083] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0084] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0085] Figure 1 This is a schematic diagram of a cleaning robot according to an exemplary embodiment of the present application. Figure 2 This is a schematic diagram of a magnetic drive wheel assembly shown in an exemplary embodiment of the present application. Figure 3 This is a schematic diagram of a magnetically attracted driven wheel assembly according to an exemplary embodiment of the present application. Figure 1 , Figure 2 and Figure 3 The cleaning robot provided in this embodiment includes a magnetic chassis 100 and a cleaning mechanism 200; the magnetic chassis 100 includes a magnetic driving wheel set 1, a magnetic driven wheel set 2 and a connecting component 3; wherein;

[0086] The magnetic drive wheel assembly 1 includes a drive wheel assembly 11 and a first arc-shaped magnet assembly 12; the drive wheel assembly 11 includes a cabin 111, a drive motor assembly 112 installed in the cabin 111, and a group of wheels 113 installed on both sides of the cabin 111 and driven by the drive motor assembly 112; the first arc-shaped magnet assembly 12 is arranged on a side of the cabin 111 facing the wall;

[0087] The magnetic driven wheel assembly 2 comprises a universal wheel assembly 21, a swing assembly 22 and a second arc-shaped magnet assembly 23; the swing assembly 22 is arranged on the axle 211 of the universal wheel assembly; the second arc-shaped magnet assembly 23 is fixed on the side of the swing assembly 22 facing the wall; the swing assembly 22 is used to allow the universal wheel assembly 21 to swing up and down;

[0088] One end of the connecting component 3 is fixed to the cabin 111, and the other end is fixed to the swinging component 22, so as to connect the magnetic driven wheel set 2 to the magnetic driving wheel set 1;

[0089] The cleaning mechanism 200 is installed on the cabin body 111 .

[0090] It should be noted that the cleaning robot consists of a magnetic chassis 100 and a cleaning mechanism 200; wherein, the magnetic chassis 100 serves as the moving part of the cleaning robot, and is used to provide power for the movement of the entire cleaning robot, so that the cleaning robot can move on a variety of wall surfaces to perform cleaning tasks; further, the cleaning mechanism 200 is a component of the cleaning robot used to perform cleaning tasks, and the cleaning mechanism 200 sprays water to a designated surface dirt location to remove stains.

[0091] For further information, please refer to Figure 1 The magnetic chassis 100 includes a magnetic driving wheel set 1, a magnetic driven wheel set 2 and a connecting assembly 3. The magnetic driving wheel set 1, as the core component of the magnetic chassis 100, can not only provide power drive for the cleaning robot, but also utilize the first arc-shaped magnet assembly 12 to enable the cleaning robot to be adsorbed on the surface of ferromagnetic materials.

[0092] Please refer to Figure 2 ,in, Figure 2 Figure (A) is a three-dimensional view corresponding to the front end of the magnetic drive wheel set 1 in the forward direction. Figure 2 Figure (B) is a three-dimensional view corresponding to the rear end of the magnetic drive wheel set 1 in the forward direction. Figure 2 Figure (C) is a cross-sectional view of the magnetic drive wheel set 1 along the axle direction. Specifically, the magnetic drive wheel set 1 includes a drive wheel set 11 and a first arc-shaped magnet assembly 12; the drive wheel set 11 includes a cabin 111, a drive motor assembly 112 installed in the cabin 111, and a group of wheels 113 installed on both sides of the cabin 111 and driven by the drive motor assembly 112; the first arc-shaped magnet assembly 12 is arranged on the side of the cabin 111 facing the wall.

[0093] Specifically, refer to Figure 2As shown in Figure (C), the driving wheel group 11 is composed of a group of wheels 113 and a cabin 111. Two wheels in the group of wheels 113 are respectively installed on both sides of the cabin 111. A driving motor assembly 112 is arranged in the cabin 111, and the driving motor assembly 112 drives the group of wheels 113 to move.

[0094] It should be noted that the set of wheels 113 has forward and backward movement capabilities and differential steering capabilities.

[0095] Furthermore, the interior of the cabin 111 has an intermediate cavity, which can be used to place the drive motor assembly 112. The drive motor assembly 112 is fixed to the cabin 111 through a motor mounting flange to prevent the movement stability of the cleaning robot from being affected by motor displacement during the movement of the cleaning robot.

[0096] Furthermore, two output end covers are arranged on both sides of the middle cavity, the output end covers are cover-shaped objects, and the outer sides of the two output end covers are connected to the two wheels respectively.

[0097] It should be noted that the number of driving motors included in the driving motor assembly 112 is set according to actual needs and is not limited in this embodiment. For example, in one possible implementation, a set of wheels 113 is driven by a single motor. For another example, in another embodiment, a set of wheels 113 is driven by two motors, that is, each wheel is driven by an independent motor. Figure 2 In Figure (C), further, the motor is equipped with a motor output shaft outside, supported by a bearing, and a retaining ring is also provided on the outside of the bearing, which can help the bearing share pressure, improve structural stability and increase the service life of the bearing. In addition, the left motor output shaft of the first motor is connected to the wheel, and the right motor output shaft of the second motor is connected to the wheel. In specific implementation, the motor output shaft can be connected to the wheel through the shaft end flange.

[0098] It should be noted that a sealing ring is also provided in the cabin 111 , and the cabin 111 is reliably sealed and has a waterproof function, so as to prevent the internal driving motor assembly 112 from being affected.

[0099] Optionally, in a possible implementation, the magnetic drive wheel set 1 can be a dual-wheel drive, differential turning drive wheel set. It can be understood that dual-wheel drive means that the two wheels in the magnetic drive wheel set 1 are respectively equipped with drive motors to achieve independent drive; differential turning means that the two wheels of the magnetic drive wheel set 1 can rotate at different speeds to achieve smooth turning.

[0100] It is understandable that the type of the drive motor is selected according to actual needs and is not limited here. For example, in one possible implementation, the drive motor may be a DC motor; for another example, in another possible implementation, the drive motor may also be an AC asynchronous motor.

[0101] Please continue to refer to Figure 2 The bottom of the cabin 111 (the bottom of the cabin 111 is the side of the cabin 111 facing the wall when the cleaning robot moves on the surface of the ferromagnetic material) is also provided with a first arc-shaped magnet assembly 12. Specifically, the first arc-shaped magnet assembly 12 is provided at the bottom of the cabin 111 in a manner of surrounding the cabin 111.

[0102] Furthermore, the magnetic chassis 100 also includes a magnetic driven wheel group 2, which can support the cleaning robot, enhance the cleaning robot's adsorption ability on the surface of ferromagnetic materials, and ensure the stability of the robot.

[0103] Please refer to Figure 3 , Figure 3 Figure (A) is a three-dimensional diagram of the magnetic driven wheel set. Figure 3 Figure (B) is a cross-sectional view of the magnetic driven wheel set. Figure 3 Figure (C) is the rear view of the magnetic driven wheel assembly. Figure 3 The magnetic driven wheel group 2 includes a universal wheel group 21, a swinging assembly 22 and a second arc-shaped magnet assembly 23; the swinging assembly 22 is arranged on the axle 211 of the universal wheel group; the second arc-shaped magnet assembly 23 is fixed on the side of the swinging assembly 22 facing the wall; the swinging assembly 22 is used to allow the universal wheel group 21 to swing up and down.

[0104] Specifically, the universal wheel set 21 includes two universal wheels and an axle connecting the two universal wheels. The universal wheels can not only help the cleaning robot to play a supporting role, but also can flexibly rotate with the steering operation of the driving wheel set 11.

[0105] The swing assembly 22 allows the universal wheel set 21 to swing up and down, so that the four wheels of the cleaning robot can touch the ground at the same time, so that the cleaning robot can adapt to the uneven surface of the ferromagnetic material.

[0106] Please refer to Figure 3 In FIG. (B), optionally, in a possible implementation, the swing assembly 22 includes a suspension bridge 221, a swing shaft 222, a first seat bearing 223 and a second seat bearing 224; wherein,

[0107] The suspension bridge 221 is passed through and fixed on the axle 211 of the universal wheel set;

[0108] The swing shaft 222 is fixed on the suspension bridge 221 in a manner perpendicular to the axle;

[0109] The first seat bearing 223 and the second seat bearing 224 are respectively installed at two ends of the swing shaft 222 .

[0110] Please note that, please refer to Figure 3 In FIG. (B), a cylindrical inlay is provided in the middle of the suspension bridge 221, and the axle 211 of the universal wheel set is embedded in the cylindrical inlay. In addition, the suspension bridge 221 is fixed to the middle of the axle. Furthermore, the swing shaft 222 is fixed to the suspension bridge 221, and the swing shaft 222 and the axle form a cross structure. Furthermore, the first seat bearing 223 and the second seat bearing 224 both include a bearing and a bearing seat. The first seat bearing 223 and the second seat bearing 224 both pass the bearings through the two ends of the swing shaft 222 in a manner that the bearing seats are parallel to the axle.

[0111] Please refer to Figure 3 , the universal wheel set 21 can rotate around the first seat bearing 223 and the second seat bearing 224, that is, the universal wheel set 21 can swing up and down around the swing shaft 222. Furthermore, the swing angle of the universal wheel set 21 is related to the swing freedom of the swing shaft 222, and the swing freedom of the swing shaft 222 is related to the structural design of the suspension bridge 221. The length and width of the suspension bridge 221 will affect the swing freedom of the swing shaft 222, and then affect the swing angle of the overall cleaning robot. In actual design, the specific structure of the suspension bridge 221 can be designed according to the desired swing freedom, and it is not limited here. For example, in one embodiment, in order to allow the swing shaft 222 to swing within a larger angle range, a longer suspension bridge 221 can be selected.

[0112] In addition, the first seat bearing 223 and the second seat bearing 224 can provide support for the swing shaft 222, so that it can be fixed on the suspension bridge 221, so that it can share the force and weight generated by the magnetic driven wheel group 2 during movement, and can also limit the swing shaft 222 so that the swing shaft 222 is in the correct position. It should be noted that the types of the first seat bearing 223 and the second seat bearing 224 are not fixed and can be selected according to actual needs. They are not limited here. For example, in one possible implementation, the first seat bearing 223 and the second seat bearing 224 can be pillar bearings; in another possible implementation, the first seat bearing 223 and the second seat bearing 224 are flange bearings. It can be understood that the types of the first seat bearing 223 and the second seat bearing 224 can be the same or different, and they are not limited in this embodiment.

[0113] Figure 4 This is a schematic diagram showing the implementation principle of the universal wheel set swing according to an exemplary embodiment of the present application. Please refer to Figure 4 , Figure 4 Figure (A) is a schematic diagram of the universal wheel assembly 21 in a non-swinging state. Figure 4 Figure (B) is a schematic diagram of the universal wheel assembly 21 in a swinging state. Figure 4 (A) and Figure 4 (B) By setting up the swing component 22, not only can the universal wheel group 21 rotate around the seat bearing, that is, the universal wheel group 21 can swing up and down around the swing shaft 222, but also through the coordination of the suspension bridge 221, the swing shaft 222 and the seat bearing, when the cleaning robot encounters an uneven or irregular wall, the four wheel groups can touch the ground at the same time, effectively adapting to changes in terrain.

[0114] It should be noted that the cooperation between the swing assembly 22 and the universal wheel assembly 21 provides the universal wheel assembly 21 with an additional degree of freedom, so that the swing shaft 222 can swing up and down within a certain degree. When the magnetic driven wheel assembly 2 faces more complex terrain or obstacles, the swing assembly 22 can be used to absorb the impact force caused by the road surface, and the slight swing of the universal wheel assembly 21 can be used to adapt to the bumps of the road surface, thereby avoiding violent shaking of the vehicle body and maintaining stability.

[0115] In summary, the swing assembly 22 ensures the stability of the universal wheel assembly 21 through the ingenious coordination of the suspension bridge 221, the swing shaft 222 and the seat bearing, while allowing the magnetic driven wheel assembly 2 to flexibly adapt to different road conditions, thereby improving the overall stability and driving performance of the vehicle body.

[0116] Furthermore, the magnetic driven wheel assembly 2 further includes a second arc-shaped magnet assembly 23 , and the second arc-shaped magnet assembly 23 is disposed on the suspension bridge 221 in a manner of surrounding the suspension bridge 221 .

[0117] For details, please continue to refer to Figure 1 The magnetic chassis 100 also includes a connecting component 3, which is used to connect the magnetic driving wheel group 1 and the magnetic driven wheel group 2 so that the two can work together to improve the mobility of the overall device.

[0118] Optionally, the connection assembly 3 may be composed of one connection frame or two connection frames, which are not limited in this embodiment. For example, in a possible implementation, the connection assembly 3 is composed of a rectangular connection frame, and two opposite sides of the rectangular connection frame are fixed on two seat bearings.

[0119] Optional, see Figure 1, 2, 3, In a possible implementation, the connecting assembly 3 may include a first connecting frame 31 and a second connecting frame 32, the first connecting frame 31 being fixed to one side of the first seat bearing 223 and the second seat bearing 224; the second connecting frame 32 being fixed to the other side of the first seat bearing 223 and the second seat bearing 224; the front ends of the first connecting frame 31 and the second connecting frame 32 facing the forward direction are provided with connecting parts for connecting to the cabin 111 of the driving wheel group 11.

[0120] Optionally, a limit block is further provided at a designated position of the first connecting frame 31 and the second connecting frame 32, and the designated position is a position where the first connecting frame 31 and the second connecting frame 32 are directly opposite to the axle. It can be understood that by providing a limit block at the designated position, the swing amplitude of the universal wheel assembly 21 can be effectively controlled.

[0121] Please continue to refer to Figure 3 A second arc-shaped magnet assembly 23 is also provided on the side of the swing assembly 22 facing the wall. Specifically, the second arc-shaped magnet assembly 23 can be fixed on the suspension bridge 221.

[0122] Furthermore, the cleaning robot also includes a cleaning mechanism 200. The specific structural form of the cleaning mechanism 200 is set according to the task requirements and is not limited here. Optionally, the cleaning mechanism 200 is any of the following flushing devices: a water cannon, a flushing device with an articulated arm, and a nozzle array 42 composed of multiple nozzles.

[0123] Optional, Figure 5 This is a schematic diagram of a cleaning mechanism according to an exemplary embodiment of the present application. Figure 6 This is a schematic diagram of a cleaning mechanism shown in another exemplary embodiment of the present application, please refer to 5, in Figure 5 In the example shown in FIG. 2 , the cleaning mechanism 200 is a flushing device with an articulated arm, which includes a nozzle array 42 composed of multiple nozzles and an articulated arm for flexibly moving the nozzle array 42 and supporting it. In this way, the nozzle array 42 can be placed in a flushing position by extending the articulated arm in a place that is inconvenient for the cleaning robot to reach. Figure 6 ,exist Figure 6 In the example shown in , the cleaning mechanism 200 is a water cannon, so that the height and direction of the water cannon can be adjusted by remote control, and the water cannon can be made to flush high-intensity water flow toward different positions to achieve a better flushing effect.

[0124] Figure 7 This is a schematic diagram of a cleaning mechanism shown in yet another exemplary embodiment of the present application. Figure 8 This is a front view of a cleaning mechanism shown in another exemplary embodiment of the present application. Figure 8 for Figure 7The partial schematic diagram of the cleaning mechanism 200 is shown. Figure 7 and Figure 8 ,exist Figure 7 In the example shown, the cleaning mechanism 200 includes an interconnecting component 41, a nozzle array 42 consisting of multiple nozzles, and a driving mechanism 43. The interconnecting component 41, the nozzle array 42 and the driving mechanism 43 are all mounted on a bracket 44; one end of the interconnecting component 41 is connected to an external water supply system, and the other end of the interconnecting component 41 is connected to each nozzle in the nozzle array 42; the driving mechanism 43 is used to drive the specific nozzle in the nozzle array 42 to adjust the direction.

[0125] Please refer to Figure 7 and Figure 8 The number of nozzles and the array form included in the nozzle array 42 are set according to actual needs and are not limited in this embodiment. For example, in a possible implementation, the nozzle array 42 includes two rows of nozzles, each row is composed of three nozzles arranged in a staggered manner; for another example, Figure 8 In the example shown, the nozzle array 42 is composed of five nozzles, three of which are located at the bottom, and the other two are arranged on both sides of the three nozzles and located above the three nozzles. Further, the interconnection component 41 is used to connect the external water supply system and each nozzle, for example, Figure 8 In the example shown, the interconnection component 41 has six connections. Further, the specific movable nozzles in the nozzle array 42 are set according to actual needs, and are not limited in this embodiment. For example, in one possible implementation, each nozzle in the nozzle array 42 is movable; for another example, in Figure 8 In the example shown, the specific nozzles are the two nozzles on the top. By swinging the two nozzles on the top up and down, the flushing area of ​​the ground can be increased. When swinging upward, the area behind the rib plate can also be cleaned. In addition, the movable range of the movable special nozzle is also set according to actual needs, and is not limited in this embodiment. For example, in one possible implementation, the specific nozzle can be rotated 360 degrees, and for another example, the specific nozzle can be swung left and right or up and down.

[0126] In addition, the driving mechanism 43 is set according to actual needs and is not limited in this embodiment. For example, in one embodiment, the driving mechanism 43 is an electric push rod.

[0127] The driving mechanism 43 can drive specific nozzles among the multiple nozzles to rotate and spray water in different directions. Such a cleaning mechanism 200 can enable the cleaning robot to achieve higher precision, more flexibility, and a wider range of flushing at specific locations, avoiding the situation where there are dead corners that cannot be flushed.

[0128] The cleaning robot provided in the present embodiment is provided with a magnetic chassis and a cleaning mechanism, and a magnetic driving wheel group, a magnetic driven wheel group and a connecting component are provided on the magnetic chassis. In this way, on the first hand, through the cooperation of the magnetic driving wheel group and the magnetic driven wheel group, the adsorption force of the cleaning robot on the surface of ferromagnetic materials can be enhanced, so that the cleaning robot can stably move on the surface of ferromagnetic materials and perform cleaning operations. In this way, it can easily reach a height and wash stains at a close distance, which can provide washing efficiency and washing effect and avoid the danger of high-altitude operations; on the second hand, through the cooperation of the first arc magnet and the second arc magnet, the cleaning robot can be effectively prevented from slipping, helping the cleaning robot to successfully complete the cleaning operation; on the third hand, by setting different forms of cleaning mechanisms, different forms of washing effects can be achieved to adapt to a variety of washing scenarios.

[0129] Fig. 9 This is a schematic diagram showing the implementation principle of a cleaning robot passing through inner and outer corner walls according to one embodiment of the present application.

[0130] in, Fig. 9 Figure (A) shows the principle diagram of the cleaning robot through the outer corner. Fig. 9 Figure (B) shows the principle diagram of the cleaning robot passing through the inner corner wall. Fig. 9 , the length of the first arc-shaped magnet assembly 12 along the forward direction is greater than the length of the cabin 111 along the forward direction; the height of the first part of the first arc-shaped magnet assembly 12 located in front of the axle in the vertical direction is higher than the height of the second part of the first arc-shaped magnet located behind the axle in the vertical direction, and the curvature of the first part is greater than the curvature of the second part;

[0131] The curvature of the second arc-shaped magnet assembly 23 is consistent with the curvature of the universal wheel assembly 21, the vertical height of the third portion of the second arc-shaped magnet assembly 23 in front of the axle is consistent with the vertical height of the fourth portion of the second arc-shaped magnet assembly 23 behind the axle, and the curvature of the third portion is consistent with the curvature of the fourth portion.

[0132] Fig.10 This is a schematic diagram of a first arc-shaped magnet assembly shown as an exemplary embodiment of the present application. Fig.11 This is a schematic diagram of a second arc-shaped magnet assembly according to an exemplary embodiment of the present application.

[0133] Optionally, in a possible implementation, the first arc-shaped magnet assembly 12 and / or includes an arc-shaped magnet and a shell covering the arc-shaped magnet to prevent the magnet from rusting.

[0134] For further information, please also refer to Figure 2 , Fig. 9 and Fig.10The length of the first arc-shaped magnet assembly 12 along the forward direction exceeds the range of the cabin 111. In this way, the magnet range of the first arc-shaped magnet assembly 12 can be extended forward, expanding the magnetic attraction range of the first arc-shaped magnet assembly 12, making the magnetic attraction strength of the first arc-shaped magnet assembly 12 to the surface of the ferromagnetic material higher, thereby improving the stability of the magnetic chassis 100.

[0135] For further information, please refer to Fig. 9 The curvature of the first part of the first arc-shaped magnet assembly 12 located in front of the axle is not consistent with the curvature of the wheel, the curvature of the second part located behind the axle is consistent with the curvature of the wheel, the height of the first part in the vertical direction is higher than the height of the second part in the vertical direction, and the curvature of the second part is greater than the curvature of the second part. In this way, the magnetic field sensing range in the forward direction of the magnetic attraction drive wheel group can be wider, and the magnetic attraction drive wheel group can timely sense possible obstacles or path changes in front during the forward process, ensuring the smooth passage of the cleaning robot and improving the safety and stability of the magnetic chassis.

[0136] Please continue to refer to Figure 3 , Fig. 9 and Fig.11 The curvature of the second arc-shaped magnet assembly 23 is consistent with the curvature of the universal wheel assembly 21, the height of the third portion of the second arc-shaped magnet assembly 23 in front of the axle in the vertical direction is consistent with the height of the fourth portion of the second arc-shaped magnet assembly 23 behind the axle in the vertical direction, and the curvature of the third portion is consistent with the curvature of the fourth portion. In other words, the third portion and the fourth portion are symmetrical.

[0137] Please continue to refer to Fig. 9 and Fig.11 The curvature of the arc-shaped magnet assembly is consistent with the curvature of the universal wheel set 21, so that the second arc-shaped magnet assembly 23 can be well matched with the universal wheel set 21 in structure, and the stability of the magnetic driven wheel set 2 is enhanced during the forward movement; further, the part of the second arc-shaped magnet assembly 23 located in front of the axle is the third part, and the part located behind the axle is the fourth part. The curvature and height of the third part and the fourth part are consistent, so that the force on each part of the second arc-shaped magnet assembly 23 can be more uniform.

[0138] Please continue to refer to Fig. 9 Through the cooperation of the first arc magnet and the second arc magnet, the cleaning robot can smoothly pass through the inner angle plane and the outer angle plane, adapt to the tortuous and complex wall environment of the hull, and can reach most of the cabin positions.

[0139] For details, please refer to Fig. 9In Figure A, when crossing over the outer corner wall, the curvature and height of the first part of the first arc magnet are designed to be larger, and the curvature and height of the second part are designed to be smaller. When crossing the outer corner, since the curvature and height of the first part are both larger, at this time, the first part is away from the wall, and the second part and the third part of the second arc magnet are respectively in contact with two surfaces of the outer corner wall, and the second part of the first arc magnet and the third part of the second arc magnet provide stable magnetic attraction, so that the magnetic chassis 100 sequentially crosses the outer corner wall.

[0140] For further information, please refer to Fig. 9 In Figure B, when crossing the inner corner wall, by designing the curvature and height of the first part of the first arc-shaped magnet to be larger, and the curvature and height of the second part to be smaller, when crossing the inner corner, since the curvature and height of the first part are both larger, the front end of the magnetic drive wheel group 1 can be in contact with the front inclined surface of the inner corner plane when the magnetic drive wheel group 1 just contacts the inner corner, so as to increase the magnetic attraction and positive pressure on the front inclined surface, and provide additional traction to help the magnetic drive chassis maintain stability and smoothly cross the inner corner plane. In addition, since the curvature and height of the second part are both smaller, and the second arc-shaped magnet is a symmetrical structure, it can ensure that a continuous and stable magnetic attraction can be provided in the process of crossing the inner corner, ensuring the fit and friction between the wheel and the surface, and when the magnetic drive chassis gradually crosses the inner corner and returns to the smooth surface, it can quickly restore the normal magnetic attraction to ensure a smooth transition of crossing and reduce jamming or shaking.

[0141] It should be noted that by setting the second arc-shaped magnet as a symmetrical structure, it can be ensured that when passing through the inner corner wall or the outer corner wall, the second arc-shaped magnet can provide a uniform and stable magnetic adsorption force, and will not produce uneven adsorption force due to height changes, so as to cooperate with the magnetic drive wheel group 1, so that the magnetic chassis 100 can smoothly complete the turning or climbing operation.

[0142] The cleaning robot provided in this embodiment can allow the cleaning robot to flexibly adapt to different road conditions through the synergistic effect of the first arc magnet and the second arc magnet, improve its ability to climb over the inner corner wall and the outer corner wall, and improve the stability and driving performance of the cleaning robot.

[0143] For further information, please refer to Figure 2 and Fig.10 A front hinge support 13 is provided at the front end of the first arc-shaped magnet facing the forward direction, and a rear hinge support 14 is provided at the rear end of the first arc-shaped magnet facing the forward direction; wherein,

[0144] A first connecting member 1111 is disposed at the front end of the cabin body 111 in the forward direction, and a second connecting member 1112 is disposed at the rear end of the cabin body 111 in the forward direction;

[0145] The front hinge support 13 is connected to the first connecting member 1111;

[0146] The rear hinge support 14 is connected to the second connecting member 1112 through the height adjustment component 15, so that when the first arc-shaped magnet is lifted up by an obstacle, the height adjustment component 15 is also lifted up.

[0147] It should be noted that the front hinge support 13 is connected to the first connecting member 1111 through the cylindrical pin 151, and the rear hinge support 14 is connected to the second connecting member 1112 through the height adjustment component 15. Figure 2 As shown in Figure (A), in a possible implementation, the height adjustment component 15 includes a cylindrical pin 151, a pivot bolt 152, and a nut 153, wherein the cylindrical pin 151 passes through the opening of the pivot bolt 152 and is fixedly connected to the rear hinge support 14; the threaded end of the pivot bolt 152 passes through the opening on the second connecting member 1112, and the nut 153 is sleeved on the threaded end of the pivot bolt 152 located above the second connecting member 1112 to adjust and lock the position of the pivot bolt 152 relative to the second connecting member 1112.

[0148] In this way, when the first arc-shaped magnet is lifted up by an obstacle on the surface of the ferromagnetic material, the height adjustment component 15 is also lifted up, thereby crossing the obstacle.

[0149] Please continue to refer to Figure 3 and Fig.11 In a possible implementation, a first connecting seat 231 is provided at the front end of the second arc magnet facing the forward direction, and a second connecting seat 232 is provided at the rear end of the second arc magnet facing the forward direction; a first connecting portion 2211 is provided at the front end of the suspension bridge 221 facing the forward direction, and a second connecting portion 2212 is provided at the rear end of the suspension bridge 221 facing the forward direction, the first connecting seat 231 is fixed to the first connecting portion 2211 by a first floating mechanism 24, and the second connecting seat 232 is fixed to the second connecting portion 2212 by a second floating mechanism 25.

[0150] In this way, when the bottom of the second arc-shaped magnet assembly 23 contacts an obstacle on the surface of the ferromagnetic material, the second magnet assembly can rise accordingly to achieve the effect of crossing the obstacle.

[0151] It should be noted that, in a possible implementation, the first floating mechanism 24 and the second floating mechanism 25 may be shoulder screws, and the length of the shoulder screws may be selected according to actual needs and is not limited herein.

[0152] The cleaning robot provided in this embodiment, through the above arrangement, can smoothly lift up the first arc-shaped magnet and the second arc-shaped magnet when encountering an obstacle, so as to pass through the obstacle and avoid damage to the first arc-shaped magnet and the second arc-shaped magnet.

[0153] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises a magnetic chassis and a cleaning mechanism; the magnetic chassis comprises a magnetic driving wheel set, a magnetic driven wheel set and a connecting assembly; in; The magnetic attraction driving wheel assembly includes a driving wheel assembly and a first arc-shaped magnet assembly; the driving wheel assembly includes a cabin, a driving motor assembly installed in the cabin, and a group of wheels installed on both sides of the cabin and driven by the driving motor assembly; the first arc-shaped magnet assembly is arranged on a side of the cabin facing the wall; The magnetic driven wheel assembly comprises a universal wheel assembly, a swing assembly and a second arc-shaped magnet assembly; the swing assembly is arranged on the axle of the universal wheel assembly; the second arc-shaped magnet assembly is fixed on the side of the swing assembly facing the wall; the swing assembly is used to allow the universal wheel assembly to swing up and down; One end of the connecting assembly is fixed to the cabin, and the other end is fixed to the swing assembly, so as to connect the magnetic driven wheel assembly to the magnetic driving wheel assembly; The cleaning mechanism is installed on the cabin body.

2. The cleaning robot according to claim 1, characterized in that: The length of the first arc-shaped magnet assembly along the forward direction is greater than the length of the cabin along the forward direction; the height of the first part of the first arc-shaped magnet assembly located in front of the axle in the vertical direction is higher than the height of the second part of the first arc-shaped magnet located behind the axle in the vertical direction, and the curvature of the first part is greater than the curvature of the second part; The curvature of the second arc-shaped magnet assembly is consistent with the curvature of the universal wheel assembly, the vertical height of the third part of the second arc-shaped magnet assembly in front of the axle is consistent with the vertical height of the fourth part of the second arc-shaped magnet assembly behind the axle, and the curvature of the third part is consistent with the curvature of the fourth part.

3. The cleaning robot according to claim 1, characterized in that: The swing assembly includes a suspension bridge, a swing shaft, a first seat bearing and a second seat bearing; wherein, The suspension bridge is passed through and fixed on the axle of the universal wheel set; The swing shaft is fixed on the suspension bridge in a manner perpendicular to the axle; The first bearing block and the second bearing block are respectively mounted on both ends of the swing shaft.

4. The cleaning robot according to claim 3, characterized in that: A front hinge support is provided at the front end of the first arc-shaped magnet facing the forward direction, and a rear hinge support is provided at the rear end of the arc-shaped magnet facing the forward direction; wherein, A first connecting member is provided at the front end of the cabin body in the forward direction, and a second connecting member is provided at the rear end of the cabin body in the forward direction; The front hinge support is connected to the first connecting member; The rear hinge support is connected to the second connecting member through a height adjustment component, so that when the first arc-shaped magnet is lifted up by an obstacle, the height adjustment component is also lifted up.

5. The cleaning robot according to claim 3 or 4, characterized in that: The front end of the second arc-shaped magnet facing the forward direction is provided with a first connection seat; the rear end of the second arc-shaped magnet facing the forward direction is provided with a second connection seat; the front end of the suspension bridge facing the forward direction is provided with a first connection part; the rear end of the suspension bridge facing the forward direction is provided with a second connection part; wherein, The first connection seat is fixed to the first connection part through a first floating mechanism, and the second connection seat is fixed to the second connection part through a second floating mechanism, so that when the second arc-shaped magnet assembly contacts an obstacle, the second magnet assembly can rise accordingly.

6. The cleaning robot according to claim 1, characterized in that: The cleaning mechanism is any of the following flushing equipment: a water cannon, a flushing equipment with an articulated arm, or a nozzle array consisting of a plurality of nozzles.

7. The cleaning robot according to claim 1, characterized in that: The cleaning mechanism is mounted on the cabin through a bracket; the cleaning mechanism comprises an interconnected component, a nozzle array consisting of a plurality of nozzles, and a driving mechanism; the interconnected component, the nozzle array and the driving mechanism are all mounted on the bracket; One end of the interconnecting component is connected to an external water supply system, and the other end of the interconnecting component is connected to each nozzle in the nozzle array; The driving mechanism is used to drive a specific nozzle in the nozzle array to adjust the direction.

8. The cleaning robot according to claim 1, characterized in that: The magnetic drive wheel set is a dual-wheel drive, differential turning type drive wheel set.

9. The cleaning robot according to claim 1, characterized in that: The first arc-shaped magnet assembly and / or the second arc-shaped magnet assembly comprises an arc-shaped magnet and a shell covering the arc-shaped magnet.

10. The cleaning robot according to claim 1, characterized in that: The cleaning robot is used for cleaning the hull.

Images