Flat-bottom wall-climbing robot

Abstract

The invention relates to the technical field of robots, in particular to a flat-bottom wall-climbing robot which comprises a machine frame and further comprises a rotating cutter disc arranged on the front portion of the machine frame, and rotating blades are arranged in the rotating cutter disc; the front guide wheel is arranged in the middle of the front end of the rotary cutter head; the two walking wheels are arranged in the middle of the rack and located on the rear side of the rotary cutter head, and the distance between the two walking wheels is smaller than the width of the working face of the rotary blade; and the rear guide wheel is arranged at the rear part of the rack. Compared with the prior art, the industrial cleaning robot has the advantages that the arc-shaped connecting rod is connected with the rack through the spring, so that the height of the rotary cutter head for cutter cleaning can be adaptively and dynamically adjusted according to the terrain under the action of the guide wheel and the spring, the structure of the industrial cleaning robot is more compact, and the service life of the industrial cleaning robot is prolonged. And the cleaning device can adapt to various terrains, so that the cleaning area and effect are better.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a flat-bottom wall-climbing robot. Background Art

[0002] With the modernization and advancement of manufacturing, the demand for industrial cleaning robots with industrial standards is gradually increasing. Compared with general sweeping robots, industrial cleaning robots have a larger cleaning disc working area and higher cleaning efficiency per unit time. However, existing industrial cleaning robots generally have problems such as being too large to enter narrow working scenes for cleaning operations, and having limited cleaning angles and being unable to fully clean irregular surfaces. Therefore, it is urgent to design a flat-ground wall-climbing robot with a compact structure, a firm frame, and a cleaning disc that can be dynamically adjusted to adapt to irregular surfaces. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a flat-bottom wall-climbing robot to make the cleaning robot structure more compact so as to adapt to operations in narrow working scenes, and enable the cutter disc to be dynamically adjusted to irregular planes, making the cleaning operation more precise.

[0004] In order to achieve the above-mentioned purpose, a flat-bottom wall-climbing robot is designed, including a frame, and also includes: a rotating cutter disc arranged at the front of the frame, wherein a rotating blade is arranged in the rotating cutter disc; a front guide wheel arranged at the middle of the front end of the rotating cutter disc; two walking wheels arranged in the middle of the frame and located at the rear side of the rotating cutter disc, wherein the distance between the two walking wheels is smaller than the width of the working surface of the rotating blade; and a rear guide wheel arranged at the rear of the frame.

[0005] Preferably, the robot designed in the present invention also includes other technical features, wherein the rotating cutter disc is a cavity structure with an opening at the bottom, the rotating blade driving device is connected to a rotating shaft, and the rotating shaft passes through the top of the rotating cutter disc and is connected to the rotating blade located in the cavity.

[0006] Preferably, the robot designed in the present invention also includes other technical features, wherein a circle of brushes is provided around the bottom of the rotating cutter disc.

[0007] Preferably, the robot designed in the present invention also includes other technical features, wherein the rotating cutter disc is in a stepped structure, the front end of the rotating cutter disc is connected to the front guide wheel via two arc-shaped connecting rods, the rear part of the arc-shaped connecting rod is connected to the top of the step on the rotating cutter disc, a spring is provided at the top of the arc-shaped connecting rod, one end of the spring is connected to the arc-shaped connecting rod, and the other end of the spring is connected to the frame.

[0008] Preferably, the robot designed in the present invention also includes other technical features, wherein a vertically arranged connecting plate is provided in the middle of the frame, the connecting plate divides the frame into a front frame and a rear frame, a driving device is provided in the rear frame, walking wheels are provided on both sides of the driving device, the rear side of the connecting plate is connected to the driving device, the front side of the connecting plate is connected to the rear side of the rotating cutter disc through a connecting piece, and a plurality of cylinders are also provided on the connecting plate, and the other end of the cylinder is hinged to the front side of the step surface on the rotating cutter disc.

[0009] Compared with the prior art, the present invention has the following advantages: Through the spring connection setting between the arc-shaped connecting rod and the frame, the height of the rotating cutter disc for knife cleaning can be adaptively and dynamically adjusted according to the terrain under the action of the guide wheel and the spring, so that the structure of the industrial cleaning robot is more compact and can adapt to a variety of terrains, so that the cleaning area and effect are better. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 , is a top perspective view of the present invention; Figure 2 , is a rear view of the present invention; Figure 3 , is a side AA cross-sectional view of the present invention; Figure 4 , is a top view of the present invention; Figure 5 , is a bottom-up stereogram of the present invention; Figure 6 , is a partial perspective view of the present invention; In the figure: 1. frame, 1-1. front frame, 1-2. rear frame, 2. rotating cutter disc, 3. rotating blade, 4. front guide wheel, 5. walking wheel, 6. rear guide wheel, 7. rotating blade driving device, 8. rotating shaft, 9. brush, 10. arc connecting rod, 11. spring, 12. step structure, 12-1. upper step, 12-2. lower step, 13. connecting plate, 14. driving device, 15. connecting piece, 16. cylinder, 17. negative pressure pipe, 18. bearing, 19. through hole. 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 flat-bottom wall-climbing robot, comprising: a frame 1, walking wheels 5, and a rotating cutter head 2.

[0013] Embodiment 1: See also Figures 2 to 6 .

[0014] The rotating cutter disc 2 is arranged at the front of the frame 1, and a rotating blade 3 is arranged inside the rotating cutter disc 2. The rotating cutter disc 2 has a step structure 12. The upper step 12-1 and the lower step 12-2 of the step mechanism 12 are movably matched, and a plurality of connecting ears are arranged on the upper step 12-1, and a plurality of vertical plug rods are arranged on the lower step 12-2 and below the connecting ears. The plug rods pass through the hollow of the connecting ears to form a relative movable limit between the upper step 12-1 and the lower step 12-2, and a movable spring is sleeved on the lower plug rod, and the two ends of the movable spring are pressed by the lower surface of the connecting ear and the upper surface of the lower step 12-2 respectively. The rotating cutter disc 2 has a cavity structure, and bristles 9 are also arranged on the bottom circumference of the rotating cutter disc 2. The rotary blade disc 2 is provided with a rotating shaft 8, which passes through the rotary blade disc 2 and is connected to the rotary blade 3 in the cavity structure. A rotary blade driving device 7 is provided on the top of the rotating shaft 8. The rotating shaft 8 is a hollow cylindrical structure, and a plurality of horizontally placed bearings 18 are provided from top to bottom in the cylindrical cavity. The output rod of the rotary blade driving device 7 passes through the hollow of the plurality of bearings 18 and meshes with the gear in the bottom rotary blade 3. The top of the rotary blade driving device 7 can be used for wiring of driving power or battery.

[0015] The front end of the rotary cutter disc 2 is provided with an arc connecting rod 10, the tail of the arc connecting rod 10 is provided on the upper step 12-1 of the rotary cutter disc 2, the front end of the arc connecting rod 10 has an arc bend, and the front guide wheel 4 connected with a pin shaft is provided at the front end of the arc bend. A spring 11 is provided on the top surface of the tail of the arc connecting rod 10, and the other end of the spring 11 is fixedly connected to the frame 1.

[0016] The rotary cutter disc 2 is also provided with a plurality of through holes 19 , through which the negative pressure pipe 17 passes to connect with the cavity in the rotary cutter disc 2 , so that the cleaned impurities are drawn out of the cavity of the rotary cutter disc 2 through the negative pressure pipe 17 .

[0017] A plurality of connecting plates 13 are provided in the middle of the frame 1, with the connecting plates 13 as the boundary, the front end of the connecting plates 13 is the front frame 1-1, and the rear end of the connecting plates 13 is the rear frame 1-2. The front part of the connecting plate 13 is connected to the connecting member 15, the rear part of the connecting plate 13 is connected to the driving device 14, and the top of the connecting plate 13 is connected to one end of a plurality of cylinders 16.

[0018] The front part of the connecting plate 13 is connected to the rear end of the connecting member 15 by a transverse pin, and the front end of the connecting member 13 is connected to the upper step 12-1 surface of the rotating cutter head 2. The top of the connecting member 13 is connected to one end of a plurality of cylinders 16 by a transverse pin, and the other end of the plurality of cylinders 16 is connected to the front end pin of the upper step 12-1 surface of the rotating cutter head 2.

[0019] The rear part of the connecting plate 13 is connected to the driving device 14, and a set of running wheels 5 are symmetrically arranged at the output ends on both sides of the driving device 14, and the distance between the two running wheels 5 is smaller than the width of the working surface of the rotating blade 3. The outer sides of the two running wheels 5 are respectively movably connected to the rear frame 1-2, and the specific method can be connected through bearings, the inner ring of the bearing is fixedly connected to the running wheel 5, and the outer ring of the bearing is fixedly connected to the rear frame 1-2.

[0020] A rear guide wheel 6 in contact with the ground is also provided at the bottom of the end of the rear frame 1-2.

[0021] It is worth mentioning that: The arrangement of the movable spring and the insertion rod allows the upper step 12-1 and the lower step 12-2 of the rotating cutter disc 2 to be movable and limited, and when the working surface becomes uneven, the lower step 12-2 can jump up and down accordingly, and under the action of the movable spring, it resets and applies a spring pressure that is always downward, so that the rotating cutter disc 2 can always be in close contact with the working surface under the action of pressure, thereby increasing friction and making the rotating cutter disc 2 more efficient in cleaning the working surface.

[0022] The arrangement of the rotating shaft 8, bearings, the output shaft of the rotating blade driving device 7 and the rotating blade 3 ensures that although the rotating blade driving device 7 is fixed at the upper end of the rotating shaft 8, its output shaft can rotate freely in the hollow of several bearings. When the bottom rotating blade 3 is subjected to external impact force and the impact force is transmitted to the output shaft, the slight deviation of the output shaft will be blocked by several bearing limits in the rotating shaft 8, and the bearings can absorb the impact force, thereby ensuring that the output shaft of the rotating blade driving device 7 is always on the rotating center of gravity axis of the rotating cutter disc 2 and avoiding the problem of stress fracture of the output shaft due to the transmission of impact force.

[0023] The arc-shaped connecting rod 10 allows the front part of the whole device to be provided with a front guide wheel 7 to help the machine to better turn and stabilize the direction of travel. And the arc-shaped connecting rod 10 is connected to the frame 1 through the spring 11, which can not only strengthen the connection between the rotating cutter disc 2 and the frame 1, but also realize the elastic and movable connection between the rotating cutter disc 2 and the frame 1. When there are bumps on the working surface, the design of the spring 11 connection can ensure the free up and down movement of the rotating cutter disc 2 and the connection with the frame 1, and the spring 11 can always apply the gravity of the frame 1 and related devices to the rotating cutter disc 2 in the form of elastic pressure, so that it is always in close contact with the working surface under pressure, increasing friction and improving cleaning efficiency.

[0024] Since the connecting plate 13, the connecting member 15 and the cylinder 16 are all connected by a transverse pin, the rotary cutter head 2 can freely move up and down in the vertical direction, while being limited in the transverse direction and indirectly connected to the connecting plate 13. By controlling the extension and contraction of the cylinder 16, the rotary cutter head 2 can generate a lever movement with the pin of the connecting plate 13 and the connecting member 15 as a fulcrum and the connection between the cylinder 16 and the rotary cutter head 2 as a power arm, and the lever movement can achieve a slight angle adjustment of the rotary cutter head 2.

[0025] The width of the running wheel 5 is set so that the running path of the device is always on the surface cleaned by the front rotating blade 3. Through the connection between the running wheel 5 and the frame 1, the connecting plate 13 is indirectly connected to the frame 1, and the indirect connection between the rotating cutter head 2 and the frame 1 is also realized.

[0026] The specific operation of this device is as follows: The rotating blade driving device 7 drives the rotating blade 3 to clean the working surface in a rotary manner, and the brush 9 can also clean the working surface. A portion of the impurities produced by cleaning are extracted by the negative pressure pipe 17. The walking wheel 5 pushes the device forward. Since the cleaning part is in front, the walking wheel 5 always walks on the cleaned working surface. The front guide wheel 4 and the rear guide wheel 6 eliminate unnecessary lateral displacement caused by the rotational friction between the rotating cutter disc 2 and the ground. By controlling the rotation speed and rotation direction of the walking wheels 5 on both sides, the steering and front and rear displacement of the device can be achieved. By controlling the cylinder 16, the rotating cutter disc 2 can be slightly adjusted in angle.

[0027] 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 flat-bottom wall-climbing robot, comprising a frame, characterized in that: Also includes: A rotating cutter disc is arranged at the front of the frame, wherein a rotating blade is arranged inside the rotating cutter disc; A front guide wheel disposed at the middle of the front end of the rotating cutter disc; Two running wheels are arranged in the middle of the frame and located at the rear side of the rotating cutter disc, and the distance between the two running wheels is smaller than the width of the working surface of the rotating blade; A rear guide wheel is arranged at the rear of the frame.

2. A flat-bottom wall-climbing robot as claimed in claim 1, characterized in that: The rotating cutter disc is a cavity structure with an opening at the bottom. The rotating blade driving device is connected to a rotating shaft, and the rotating shaft passes through the top of the rotating cutter disc and is connected to the rotating blade located in the cavity.

3. A flat-bottom wall-climbing robot as claimed in claim 2, characterized in that: A circle of brushes is arranged around the bottom of the rotating cutter disc.

4. A flat-bottom wall-climbing robot as claimed in claim 2, characterized in that: The rotating cutter disc has a stepped structure, and the front end of the rotating cutter disc is connected to the front guide wheel through two arc-shaped connecting rods, the rear part of the arc-shaped connecting rod is connected to the top of the step on the rotating cutter disc, and a spring is provided on the top of the arc-shaped connecting rod, one end of the spring is connected to the arc-shaped connecting rod, and the other end of the spring is connected to the frame.

5. A flat-bottom wall-climbing robot as claimed in claim 1, characterized in that: A vertically arranged connecting plate is provided in the middle of the frame, and the connecting plate divides the frame into a front frame and a rear frame. A driving device is provided in the rear frame, and walking wheels are provided on both sides of the driving device. The rear side of the connecting plate is connected to the driving device, and the front side of the connecting plate is connected to the rear side of the rotating cutter disc through a connecting piece. A plurality of cylinders are also provided on the connecting plate, and the other end of the cylinder is hinged to the front side of the step surface on the rotating cutter disc.

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