Silo cleaning robot

Abstract

The silo cleaning robot comprises a robot body, a plurality of thrust rotors, a walking assembly and a roller brush, the multiple thrust rotors are rotationally arranged on the robot body so that the robot body can be attached to the side wall of a silo, the walking assembly is arranged at the bottom of the robot body, and the roller brush is arranged on the walking assembly. The robot body can walk along the side wall of the silo through the walking assembly, a roller brush is rotationally arranged at the front end of the robot body, and the roller brush protrudes out of a thrust rotor wing in the length direction of the robot body; the roller brush is arranged at the front end of the robot body and exceeds the thrust rotor wing in the length direction of the robot body, and during cleaning, the roller brush can rotate along with movement of the robot body and make contact with the robot body at the first time to clean residual grains on the side wall of the silo, so that the number of cleaning dead corners can be reduced, and the cleaning efficiency is improved. And the safety of the robot body in the cleaning process can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of silo cleaning, and in particular to a silo cleaning robot. Background Art

[0002] At present, the mainstream storage warehouse types in the grain industry include vertical silos, bungalow silos, shallow round silos, and building silos. Vertical silos are widely used because of their solid structure, strong wind and earthquake resistance, and long-term storage of large amounts of grain. However, during the storage and acquisition of grain, it is easy for grain to be adsorbed on the side walls of the silo, and then hardened on the side walls of the silo, which not only causes waste but also affects the subsequent storage of grain. Therefore, they need to be cleaned. At present, grain silos generally adopt manual cleaning methods and silo cleaning robots; compared with manual cleaning, silo cleaning robots have low cost, high efficiency and high safety.

[0003] Existing silo cleaning robots include large fixed and small mobile types. Large fixed robots are divided into two categories. One is to lay out tracks along the top of the silo so that the machine carries a cleaning device and rotates along the track for cleaning. The other is to suspend the cleaning device through the opening on the top of the silo to enter the silo and lift it up and down for cleaning. This simple structural cleaning is only suitable for silos without obstructions, and there are blind spots for cleaning. Small mobile cleaning robots use a specific adsorption method, combined with cleaning components and mobile components for implementation. For example, the patent with Chinese announcement number CN219093036U discloses "a multi-rotor thrust cleaning robot", which can stably provide thrust to the body facing the silo wall through four rotors, and provide thrust for walking through two rotors on a flexibly controllable support frame; however, the cleaning component of the cleaning robot is set in the middle of the bottom of the fuselage, and its lateral coverage range is shorter than the width of the fuselage, which is prone to blind spots, and it cannot be cleaned immediately in the middle. If the height of the grain residue is greater than the distance from the fuselage chassis to the side wall of the silo, it will cause damage to the fuselage.

[0004] In view of this, the existing technology still needs to be improved and developed. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a silo cleaning robot, aiming to solve the problem that the cleaning plate of the existing silo cleaning robot is arranged in the middle of the bottom of the fuselage, which is prone to dead corners and easily causes the fuselage to collide with compacted grain and be damaged.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A silo cleaning robot, comprising:

[0008] Robot body;

[0009] A plurality of thrust rotors are rotatably disposed on the robot body so as to attach the robot body to the side wall of the silo;

[0010] A walking assembly, disposed at the bottom of the robot body, and used to drive the robot body to move along the side wall of the silo;

[0011] A roller brush is rotatably arranged at the front end of the robot body; the roller brush protrudes from the thrust rotor along the length direction of the robot body.

[0012] Furthermore, it also includes:

[0013] A rotation slot is arranged on the outer side of the robot body;

[0014] A rotating block is rotatably disposed in the rotating groove; the roller brush is disposed on one side of the rotating block;

[0015] A rotary motor is arranged inside the robot body; the rotary motor is connected to the rotating block to drive the rotating block and the roller brush to rotate.

[0016] Furthermore, a support frame is provided on one side of the rotating block, the support frame forms a certain angle with the side wall of the rotating block, and the roller brush is rotatably arranged on the support frame.

[0017] Furthermore, a first motor is provided on the support frame, and the first motor is connected to the roller brush to drive the roller brush to rotate.

[0018] Furthermore, the support frame comprises:

[0019] Two telescopic rods are arranged on the side wall of the rotating block at a certain angle;

[0020] The shaft rod is arranged between the two telescopic rods; the two ends of the shaft rod are respectively connected to the two telescopic rods, and the roller brush is rotatably arranged on the shaft rod.

[0021] Furthermore, the walking assembly includes:

[0022] A mounting frame, rotatably disposed at the bottom of the robot body;

[0023] A wheel, rotatably mounted on the mounting frame;

[0024] A steering motor is disposed in the robot body; the steering motor is connected to the mounting frame to drive the mounting frame to rotate;

[0025] A driving motor is arranged on the mounting frame; the driving motor is connected to the wheel to drive the wheel to rotate.

[0026] Furthermore, the distance between the bottom wall of the wheel and the bottom wall of the robot body is greater than or equal to the distance between the bottom wall of the roller brush and the bottom wall of the robot body.

[0027] Furthermore, the thrust rotor is arranged on the top of the robot body through a bracket, a second motor is arranged in the bracket, and the second motor is connected to the thrust rotor.

[0028] Furthermore, a protective ring is provided on the bracket, and the thrust rotor is located inside the protective ring.

[0029] Furthermore, it also includes:

[0030] Pay-off rack, installed on the top of the silo

[0031] A wire reel is rotatably disposed on the wire pay-off frame; a connecting wire is wound around the wire reel, and the connecting wire is connected to the robot body;

[0032] The pressure sensor is arranged at the bottom of the pay-off frame.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] In the present invention, a plurality of thrust rotors are rotatably provided on the robot body so as to attach the robot body to the side wall of the silo; a walking assembly is provided at the bottom of the robot body, and the robot body can walk along the side wall of the silo through the walking assembly; a roller brush is rotatably provided at the front end of the robot body, and the roller brush protrudes from the thrust rotor along the length direction of the robot body; by providing the roller brush at the front end of the robot body and extending beyond the thrust rotor along the length direction of the robot body, the roller brush can rotate with the movement of the robot body during cleaning, and contact and clean the residual grain on the side wall of the silo at the first time, which can not only reduce the existence of cleaning dead corners, but also improve the safety of the robot body during cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0036] Figure 2 The schematic diagram of the side view of the robot body of the present invention is

[0037] Figure 3 It is a schematic diagram of the structure of the walking assembly of the present invention.

[0038] The numbers in the figure indicate: 1. robot body; 11. rotating block; 12. support frame; 2. thrust rotor; 3. walking assembly; 31. mounting frame; 32. wheel; 4. roller brush; 5. bracket; 6. protective ring. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In view of the shortcomings of the prior art, this embodiment provides a silo cleaning robot, which can be specifically referred to as follows:

[0043] As attached Figure 1 and attached Figure 2As shown, a silo cleaning robot includes a robot body 1, multiple thrust rotors 2, a walking component 3 and a roller brush 4. The robot body 1 is arranged in a square shape, and the top of the robot body 1 is rotatably provided with multiple thrust rotors 2, so that the robot body 1 can be attached to the side wall of the silo to facilitate the robot body 1 to move and clean along the side wall of the silo; the bottom of the robot body 1 is provided with a walking component 3, and the walking component 3 can be used to drive the robot to move along the side wall of the silo, and the front end of the robot body 1 is rotatably provided with a roller brush 4, and the roller brush 4 protrudes from the thrust rotor 2 along the length direction of the robot body 1, that is, in the length direction of the robot body 1 (the length direction is the cleaning direction of the silo cleaning robot), the roller brush 4 exceeds the thrust rotor 2 and is located at the front side of the thrust rotor 2, so that when cleaning the residual food, the roller brush 4 can first contact the residual food and clean it, so as to avoid the robot body 1 from colliding with the residual food and causing damage.

[0044] Specifically, when there are multiple compacted grains in the silo that need to be cleaned, the robot body 1 can be manually placed vertically, that is, the bottom of the robot body 1 corresponds to the side wall of the silo, and the multiple thrust rotors 2 are parallel to the side walls of the silo. Then, the multiple thrust rotors 2 are started, and the thrust rotors 2 rotate. Through the action of air flow, the robot body 1 is attached to the side wall of the silo. Then, the walking component 3 is started, and in conjunction with the multiple thrust rotors 2, it can move on the side wall of the silo, and move to the compacted part, and continue to drive the robot body 1 to move. The roller brush 4 at the front end of the robot body 1 can first contact the compacted grain, and the roller brush 4 rotates with the movement of the robot body 1 to clean the compacted grain, which can effectively prevent the robot body 1 from colliding with the compacted grain. At the same time, the roller brush 4 is set at the front end of the robot body 1, which can effectively reduce the situation where the cleaning device is located within the range of the thrust rotor 2 and has a blind spot.

[0045] Under the action of the walking component 3, the robot body 1 moves from the bottom of the silo to the top of the silo and cleans. Due to the length limitation of the roller brush 4, the robot body 1 needs to cooperate with the roller brush 4 to move back and forth for cleaning; when the roller brush 4 is fixedly set at the front end of the robot body 1, when cleaning from the top of the silo to the bottom of the silo, the front end of the robot body 1 needs to be facing downward, that is, the robot body 1 is turned 180 degrees as a whole, so that the roller brush 4 can face downward for easy cleaning. However, when the robot body 1 rotates, a large arc will be generated, and it cannot effectively clean back and forth close to the place just cleaned, thereby generating a missing space between the two cleaning paths, resulting in low cleaning efficiency.

[0046] In one embodiment of the present application, as shown in the attached Figure 2 and attached Figure 3As shown, the silo cleaning robot also includes a rotating groove, a rotating block 11 and a rotating motor. A rotating groove is arranged on the outside of the robot body 1, and a rotating block 11 is rotatably arranged in the rotating groove. The roller brush 4 is arranged on one side of the rotating block 11. A rotating motor is also arranged inside the robot body 1. The rotating motor is connected to the rotating block 11 and is used to drive the rotating block 11 and the roller brush 4 to rotate.

[0047] Specifically, when the robot body 1 cooperates with the walking component 3 and the roller brush 4 to move and clean to the top of the silo, the walking device can be used to turn to drive the robot body 1 to translate. The translation distance can be calculated according to the length of the roller brush 4. After moving to a suitable position, the rotating motor is started, and the rotating motor drives the rotating block 11 to rotate until the rotating block 11 rotates 180 degrees. At this time, the roller brush 4 also rotates 180 degrees with the rotating block 11, and the roller brush 4 rotates from an upward position to a downward position. Finally, the walking component 3 is turned to the downward direction, and the walking component 3 is started, which can drive the robot body 1 to move from the top of the silo to the bottom of the silo and cooperate with the roller brush 4 to clean;

[0048] When cleaning to the bottom of the silo, the walking component 3 can be started to translate the robot body 1. After the translation, the walking component 3 is turned upward, and the rotating motor drives the steering block to rotate 180 degrees, so that the roller brush 4 can be arranged upward; by performing the above steps in a cycle, the side wall of the silo can be cleaned reciprocatingly.

[0049] In this embodiment, after the robot body 1 is translated to the position that needs to be cleaned, it can first move downward through the walking component 3, and make the roller brush 4 move downward and rotate accordingly to clean the compacted grain on the side wall of the silo corresponding to the robot body 1; or first move the robot body 1 downward by a distance greater than the length of the robot body 1 through the walking component 3, and then move upward through the walking component 3 and the roller brush 4 to clean the side wall of the silo; this can effectively avoid the side wall of the silo corresponding to the robot body 1 not being cleaned due to directly rotating the roller brush 4.

[0050] In this embodiment, as shown in the attached Figure 3As shown, a support frame 12 is provided on one side of the rotating block 11, and the support frame 12 forms a certain angle with the side wall of the rotating block 11, and the roller brush 4 is rotatably set on the support frame 12; the rotating block 11 is located on the robot body 1, that is, the rotating block 11 is at a certain distance from the bottom wall of the robot body 1. If the roller brush 4 is directly rotatably set on the rotating block 11, the diameter of the roller brush 4 is relatively large at this time to contact the side wall of the silo; by setting the support frame 12 and the rotating block 11 at a certain angle, the fixed position of the roller brush 4 can be close to the bottom wall of the robot body 1, which can effectively reduce the diameter and weight of the roller brush 4, thereby not only ensuring the stability of the robot body 1, but also reducing the range of dead angles in the silo.

[0051] Furthermore, the bottom of the silo is generally conical to facilitate the discharge of grain from the bottom of the silo. By setting the support frame 12, the diameter of the roller brush 4 can be reduced so that the roller brush 4 can abut against the connection between the conical bottom of the silo and the side wall of the silo, and clean the residual grain at the bottom of the inner wall of the silo, thereby reducing the dead angle range in the silo.

[0052] Generally, when the walking component 3 of the robot body 1 abuts against the side wall of the silo, the roller brush 4 will also abut against the side wall of the silo. The roller brush 4 rotates as the walking component 3 drives the robot body 1 to move, thereby causing the roller brush 4 to squeeze the remaining grain and tightly adhere the remaining grain to the side wall of the silo.

[0053] Based on the above problems, a first motor is arranged on the support frame 12, and the first motor is connected to the roller brush 4. By starting the first motor, the roller brush 4 can be driven to rotate on the support frame 12; by driving the roller brush 4 to rotate by the first motor, the roller brush 4 will not rotate with the movement of the robot body 1, but will be driven by the first motor. At this time, when the residual grain is adhered to the side wall of the silo, it will be cleaned under the rotation of the roller brush 4, thereby avoiding squeezing the residual grain, and further tightly adhering the residual grain to the side wall of the silo.

[0054] In this embodiment, the support frame 12 includes two telescopic rods and an axle rod, the two telescopic rods are arranged in parallel along the width direction of the rotating block 11, and the angles between the two telescopic rods and the rotating block 11 are the same, the axle rod is located between the two telescopic rods, and the two ends of the axle rod are respectively connected to the two telescopic rods, and the roller brush 4 is sleeved on the axle rod and rotates with the axle rod;

[0055] When the roller brush 4 abuts against the side wall of the silo, friction will be generated between the roller brush 4 and the silo, which will cause accelerated wear of the roller brush 4 and make it inconvenient to clean the grain adhered to the side wall of the silo. The present application sets a telescopic rod and contracts the telescopic rod to adjust the distance between the bottom wall of the roller brush 4 and the bottom wall of the robot body 1, that is, the distance between the roller brush 4 and the side wall of the silo, thereby avoiding friction between the roller brush 4 and the side wall of the silo, and effectively improving the service life of the roller brush 4. Adjusting the distance between the roller brush 4 and the side wall of the silo is also convenient for cleaning the residual grain and for the grain to fall through the gap between the roller brush 4 and the side wall of the silo.

[0056] Furthermore, the surface of the drum brush 4 is provided with bristles, and the length of the bristles can be set according to the specific situation or the size of the grain, so as to facilitate the cleaning of the grain remaining on the side wall of the silo.

[0057] As attached Figure 3 As shown, the walking assembly 3 includes a mounting frame 31, wheels 32, a steering motor and a driving motor. The mounting frame 31 is arranged at the bottom of the robot body 1, and the mounting frame 31 is installed at the bottom of the robot body 1. The top of the mounting frame 31 is a rotating shaft, and the rotating shaft is rotatably arranged in the robot body 1. A notch is opened at the bottom of the mounting frame 31, and the notch is arranged downward. The wheel 32 is installed in the notch, and the wheel 32 partially protrudes from the notch position, so that the wheel 32 can abut against the side wall of the silo. At the same time, the rotation of the mounting frame 31 will also drive the rotation of the wheel 32; a steering motor is arranged inside the robot body 1, and the output shaft of the steering motor is coaxially arranged and connected with the rotating shaft of the mounting frame 31. By starting The dynamic steering motor can drive the mounting frame 31 to rotate 360 ​​degrees, thereby adjusting the movement direction of the robot body 1. A driving motor is arranged on the mounting frame 31, and the output shaft of the driving motor is connected to the wheel 32. By starting the driving motor, the wheel 32 can be driven to rotate, so that the robot body 1 can be moved; by the wheel 32 cooperating with the mounting frame 31 and the steering motor, not only the steering mobility of the robot body 1 can be improved, but also the robot body 1 has a better obstacle crossing ability; compared with the crawler type used in the prior art, it does not require a large contact area with the warehouse wall, and the steering is more flexible and smooth; compared with the foot-type technology, it has a faster moving speed, and the four-wheel control is relatively simple and convenient.

[0058] Specifically, under the action of the thrust rotor 2, the robot body 1 can abut against the side wall of the silo. At this time, the bottom of the wheel 32 contacts the side wall of the silo. Then, by starting the drive motor and the steering motor, the steering motor makes the wheel 32 face the top of the silo, and the drive motor drives the wheel 32 to rotate upward to realize the movement of the robot body 1; when the silo side wall in the vertical direction is cleaned, it is necessary to translate and clean the silo side wall position next to it. At this time, the drive motor can be paused and the steering motor can be started. The steering motor drives the rotating shaft to rotate 90 degrees and can rotate to one side of the robot body 1. After the rotation is completed, the rotating shaft is locked, the drive motor is started, and the wheel 32 is driven to rotate, so that the robot body 1 can be translated. When the translation is completed, the steering motor can be reversed to correct the direction of the wheel 32, and the drive motor can continue to drive the wheel 32 to rotate to realize the movement of the robot body 1 and the cleaning of the roller brush 4.

[0059] In this embodiment, the distance between the bottom wall of the wheel 32 and the bottom wall of the robot body 1 is greater than or equal to the distance between the bottom wall of the roller brush 4 and the bottom wall of the robot body 1, that is, when the bottom wall of the wheel 32 abuts against the side wall of the silo, the roller brush 4 may abut against the side wall of the silo or may not contact the side wall of the silo. Specifically, it may be selected and adjusted according to the actual situation.

[0060] In one embodiment of the present application, the thrust rotor 2 is arranged on the top of the robot body 1 through a bracket 5, one end of the bracket 5 is rotatably connected to the thrust rotor 2, and the other end is arranged on the top of the robot body 1. The bracket 5 is arranged in an inclined state, and the thrust rotor 2 can be arranged on the top side of the robot body 1 by the inclined arrangement to avoid the thrust rotor 2 being located on the surface of the robot body 1. The robot body 1 blocks the thrust rotor 2 from exhausting air, thereby reducing the contact force between the robot body 1 and the side wall of the silo; a second motor is arranged inside the bracket 5, and the second motor is connected to the thrust rotor 2. By starting the second motor, the thrust rotor 2 can be driven to rotate, thereby driving the robot body 1 to abut against the side wall of the silo.

[0061] In this embodiment, there are four thrust rotors 2 and four brackets 5, which are respectively located at the four corners of the robot body 1 to facilitate the operation of the thrust rotors 2. The brackets 5 are all inclined from the surface of the robot body 1 to the outside of the robot body 1.

[0062] In this embodiment, a protective ring 6 is provided on the bracket 5, and the thrust rotor 2 is located in the protective ring 6 for protecting the thrust rotor 2; the protective ring 6 is annular and is provided on the bracket 5, and extends upward from the top wall of the bracket 5 and protrudes from the top of the thrust rotor 2. The protective ring 6 wraps the thrust rotor 2 and can effectively prevent the thrust rotor 2 from being affected by falling grain; at the same time, it can also make the thrust of the thrust rotor 2 act vertically on the side wall of the silo.

[0063] In one embodiment of the present application, a wireless connection module is provided inside the robot body 1, and the robot body 1 can be operated through an operation panel or a handle, so that the robot body 1 can start, turn, walk, etc.

[0064] In this embodiment, the silo cleaning robot also includes a wire pay-off rack, a winding drum and a pressure sensor. The wire pay-off rack is arranged on the top of the silo, and a wire winding drum is rotatably arranged on the wire pay-off rack. A connecting wire is wound on the wire winding drum. One end of the connecting wire is connected to an external power supply, and the other end is connected to the charging port on the robot body 1. The robot body 1 can be powered by the connecting wire, which can effectively avoid the problem of poor work efficiency caused by the small battery capacity of the robot body 1; at the same time, it can also prevent the robot body 1 from falling directly due to a malfunction and causing damage.

[0065] Furthermore, a pressure sensor is provided at the bottom of the pay-off frame, and a certain damping force is provided at the position where the winding drum and the pay-off frame rotate. During the movement of the robot body 1, the winding drum will rotate with the pay-off frame and pay the wire through the pulling of the robot body 1 and providing a certain pulling force. At the same time, a wire-receiving motor is provided on the pay-off frame, and the wire-receiving motor is connected to the winding drum;

[0066] In the initial state, the wire-reeling motor is not started. When the robot body 1 moves downward for cleaning, the connecting wire can be pulled and the winding drum can be driven to rotate. At this time, the robot body 1 also causes the pay-off frame to have a downward force, so that the pressure measured by the pressure sensor is different from the value when there is no tension; when the robot body 1 moves upward for cleaning, the connecting wire has no tension at this time, and the pay-off frame is directly pressed on the pressure sensor. The value measured by the pressure sensor is the value without tension (at this time, there is only the weight of the pay-off frame, the winding drum and the connecting wire). At this time, the wire-reeling motor can be used to drive the winding drum to rotate for winding, so as to prevent the hanging connecting wire from affecting the cleaning of the robot body 1, or to avoid causing a certain impact on the robot body 1.

[0067] The silo cleaning robot can be divided into three layers from top to bottom, namely the thrust contact layer, the cleaning layer and the walking layer. The main bodies of the three layers are rectangular blocks with the same surface area but different heights. After being superimposed, a robot body 1 with a rectangular shape is formed. The walking layer contains various walking-related devices, the cleaning layer contains various cleaning-related devices, and the thrust contact layer contains adsorption equipment, power connection devices, and control modules. There is a cylindrical hollow area in the middle of the three layers, which is used for the penetration of wires between different layers, but the overall appearance of the robot body 1 is sealed, and the outer contour is a rectangular block.

[0068] The walking layer is a rectangular block with a universal wheel at the front and rear positions on both sides, a total of four universal wheels, each universal wheel is connected to a steering motor to provide steering power, and the four universal wheels are respectively connected to three drive motors to provide driving power. The drive motor is connected to the control module in the top thrust contact layer through the cylindrical through area in the middle of the three-layer device via wires to control the universal wheel to turn and move.

[0069] The cleaning layer is above the walking layer and fits tightly with it. The contact area of ​​the two is the same size, and the main body of the cleaning layer is also a rectangular parallelepiped. However, the entire cleaning layer is connected to a rotating motor, which can drive the cleaning layer to rotate 180 degrees. The rotating motor is connected to the control module in the adsorption device layer through an electric wire passing through the cylindrical hollow area in the middle of the three-layer device. The front end of the cleaning layer is provided with a support frame 12 extending to the front and lower side. The direction of the support frame 12 is fixed. The support frame 12 is connected to the two ends of the roller brush 4. The roller brush 4 can rotate flexibly under the action of the first motor. The roller brush 4 is provided with bristles. The driving motor on the walking layer wheel 32 drives the wheel 32 to drive the robot body 1 to move, so that the roller brush 4 is subjected to the resistance of the silo side wall to rotate, and then the silo side wall is cleaned.

[0070] The thrust abutment layer is above the cleaning layer and fits closely with it. The contact area of ​​the two is the same, and the main body of the thrust abutment layer is also a cuboid. The four corners of the thrust abutment layer are provided with brackets 5 extending outward, the brackets 5 are connected to the second motor, and the second motor terminal controls the rotation and stop of the thrust rotor 2. The thrust rotor 2 is surrounded by a protective ring 6. The wires of each second motor pass through the hollow area in the middle of the bracket 5 to connect to the control module of the thrust abutment layer. A fixed crossbeam is provided between two adjacent brackets 5 to control the thrust points of the thrust rotor 2 to be evenly distributed on the fuselage so that it can be stably adsorbed. A control module is provided in the middle of the thrust abutment layer, and the motors are connected by wires to perform various tasks, and the operation of each motor in each layer is issued to specify the control. A connection port for the connecting wire is provided at the front end of the thrust abutment layer, and the connecting wire can be connected to the control module inside the layer through the port. The other end of the connecting wire is connected to the power supply outside the silo to provide stable power for the operation of the body. The length of the connecting wire between the robot body 1 and the power supply is greater than the height of the silo, and the redundant connecting wires between the robot and the power supply are stored by the wire pay-off rack.

[0071] By setting up three layers of thrust abutment layer, cleaning layer and walking layer, each functional area can be physically divided. It has a highly integrated multi-layer functional design, which reduces the interference between systems in complex working environments, improves the overall working stability and efficiency of the robot, and achieves the optimization of mechanical stability and functionality.

[0072] Working principle:

[0073] The robot body 1 is placed against the side wall of the silo in the vertical direction of the silo, the switch of the robot body 1 is turned on, and the external power supply provides power to the robot body 1 through the connecting line. The control module in the robot body 1 controls the second motor of the four thrust rotors 2 to operate, and the second motor drives the four thrust rotors 2 to rotate to provide stable thrust, ensuring that the robot body 1 is stably against the inner wall of the silo. When the robot body 1 is stably against the side wall of the silo, the control module controls the driving motor of the wheel 32 to drive the wheel 32 to drive the robot body 1 forward, so that the robot body 1 moves in the vertical direction of the inner wall of the silo. During the movement, the roller brush 4 is driven to rotate by the first motor to clean the residual materials in the forward direction of the robot body 1. And as the robot body 1 moves in the vertical direction and gradually approaches the top of the silo, there is no downward pulling force on the connecting line between the robot body 1 and the external power supply, so the connecting line is also shortened to ensure that other equipment in the warehouse will not be affected by the redundant connecting line or the machine body will not be accidentally touched;

[0074] When a vertical route is cleaned, the control module starts the steering motor of the wheel 32, so that the four wheels 32 rotate (left or right) 90 degrees, and drive the wheel 32 to move one body position in the current direction through the drive motor. When the driving is completed, the wheel 32 is turned 90 degrees (left or right). At the same time, the control module turns the roller brush 4 180 degrees through the rotating motor, so that the roller brush 4 is located in front of the machine's forward direction again; when the robot continues to drive in the second vertical route, it repeats the above-mentioned steering operation after driving to the end and reaches the third vertical route to continue the task. The entire inner wall of the silo can be regarded as composed of multiple vertical lines, and the robot repeats the operation until the inner wall of the silo is completely cleaned.

[0075] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the schemes disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in this scheme. The description and examples are to be regarded as exemplary only, and the true scope and spirit of the present invention are indicated by the claims.

Claims

1. A silo cleaning robot, characterized in that: include: Robot body; A plurality of thrust rotors are rotatably disposed on the robot body so as to attach the robot body to the side wall of the silo; A walking assembly, disposed at the bottom of the robot body, and used to drive the robot body to move along the side wall of the silo; A roller brush is rotatably arranged at the front end of the robot body; the roller brush protrudes from the thrust rotor along the length direction of the robot body.

2. A silo cleaning robot according to claim 1, characterized in that: It also includes: A rotation slot is arranged on the outer side of the robot body; A rotating block is rotatably disposed in the rotating groove; the roller brush is disposed on one side of the rotating block; A rotary motor is arranged inside the robot body; the rotary motor is connected to the rotating block to drive the rotating block and the roller brush to rotate.

3. A silo cleaning robot according to claim 2, characterized in that: A support frame is arranged on one side of the rotating block, the support frame forms a certain angle with the side wall of the rotating block, and the roller brush is rotatably arranged on the support frame.

4. A silo cleaning robot according to claim 3, characterized in that: The support frame is provided with a first motor, and the first motor is connected with the roller brush to drive the roller brush to rotate.

5. The silo cleaning robot according to claim 4, characterized in that: The support frame comprises: Two telescopic rods are arranged on the side wall of the rotating block at a certain angle; The shaft rod is arranged between the two telescopic rods; the two ends of the shaft rod are respectively connected to the two telescopic rods, and the roller brush is rotatably arranged on the shaft rod.

6. The silo cleaning robot according to claim 1, characterized in that: The walking assembly comprises: A mounting frame, rotatably disposed at the bottom of the robot body; A wheel, rotatably mounted on the mounting frame; A steering motor is disposed in the robot body; the steering motor is connected to the mounting frame to drive the mounting frame to rotate; A driving motor is arranged on the mounting frame; the driving motor is connected to the wheel to drive the wheel to rotate.

7. The silo cleaning robot according to claim 6, characterized in that: The distance between the bottom wall of the wheel and the bottom wall of the robot body is greater than or equal to the distance between the bottom wall of the roller brush and the bottom wall of the robot body.

8. The silo cleaning robot according to claim 1, characterized in that: The thrust rotor is arranged on the top of the robot body through a bracket, a second motor is arranged in the bracket, and the second motor is connected to the thrust rotor.

9. The silo cleaning robot according to claim 8, characterized in that: A protective ring is arranged on the bracket, and the thrust rotor is located inside the protective ring.

10. The silo cleaning robot according to claim 1, characterized in that: It also includes: Pay-off rack, set on the top of the silo; A wire reel is rotatably disposed on the wire pay-off frame; a connecting wire is wound around the wire reel, and the connecting wire is connected to the robot body; The pressure sensor is arranged at the bottom of the pay-off frame.

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