Intelligent inspection robot with self-cleaning function

Abstract

The invention relates to the technical field of robot self-cleaning, and discloses an intelligent inspection robot with a self-cleaning function, which comprises a robot body, a mechanical arm is fixedly mounted on the robot body, a lens is rotatably mounted at the end part of the mechanical arm, and a cleaning bin for cleaning the lens is fixedly mounted on the robot body. A cleaning groove matched with a lens is formed in the cleaning bin, an air cylinder is fixedly installed in the cleaning bin, a push plate is fixedly installed at the output end of the air cylinder, a spray head used for spraying cleaning liquid is fixedly installed on one side of the push plate, a sliding piece is installed on the push plate in a sliding mode, and a cleaning wiper is arranged on the sliding piece. The cleaning liquid is sprayed to the surface of the lens through the spray head, and the guide rod is limited through the wavy guide groove, so that the sliding piece drives the cleaning wiper to perform wavy up-and-down reciprocating sliding on the surface of the lens, the cleaning liquid can be uniformly smeared, and the surface of the lens is primarily pre-cleaned.

Description

Technical Field

[0001] The invention relates to the technical field of robot self-cleaning, and in particular to an intelligent inspection robot with a self-cleaning function. Background Art

[0002] Inspection robots are automated equipment that integrates multiple sensors, autonomous navigation technology, and artificial intelligence algorithms. They can automatically walk on preset routes and conduct patrol inspections. They are widely used in multiple fields such as industry, electricity, petrochemicals, data centers, commerce, and public security to replace manual regular or irregular inspection tasks. These robots carry various sensors, such as cameras, infrared sensors, and sound sensors, to sense the surrounding environment, and process and analyze data through computer vision, image processing, and other technologies. They can detect the operating status of equipment, monitor parameters such as the concentration of harmful gases or temperature and humidity in the environment, and promptly detect abnormal conditions and take corresponding measures to ensure the normal operation of equipment and facilities and production safety;

[0003] During the operation of the inspection robot, various impurities often adhere to the lens because the camera is exposed to the outside for a long time. Although the inspection robot is equipped with various sensors and detection systems, these systems are mainly used to detect the status of the inspected object, not the status of the inspection robot itself. Therefore, when impurities adhere to the lens, the inspection robot may not be able to automatically detect this problem. In addition, the maintenance of the inspection robot is usually carried out according to a predetermined cycle rather than in real time. This means that between two maintenances, if impurities adhere to the lens, the impurities may not be discovered and cleaned in time. These impurities may affect the clarity and shooting quality of the lens and cause the inspection robot to misjudge. For this reason, we propose an intelligent inspection robot with self-cleaning function. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent inspection robot with a self-cleaning function to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent inspection robot with a self-cleaning function, comprising a robot body, a mechanical arm fixedly mounted on the robot body, a lens rotatably mounted on the end of the mechanical arm, a cleaning chamber for cleaning the lens fixedly mounted on the robot body, a cleaning slot matching the lens provided on the cleaning chamber, a cylinder fixedly mounted inside the cleaning chamber, a push plate fixedly mounted on the output end of the cylinder, a nozzle for spraying a cleaning liquid fixedly mounted on one side of the push plate, a sliding member slidably mounted on the push plate, a cleaning wipe provided on the sliding member, and a magnetic rod driven by the cleaning wipe slidably mounted on the upper end of the push plate;

[0006] A motor is slidably mounted on the upper end of the cleaning bin, a rotating shaft is fixedly mounted on the output end of the motor, a cleaning roller for cleaning the lens is fixedly mounted on the rotating shaft, the cleaning roller is made of elastic material, a limiting piece is rotatably mounted on the rotating shaft, an elastic rod is fixedly mounted on the limiting piece, a guide block is fixedly mounted on one end of the elastic rod, a straight groove for limiting the guide block is provided on the inner wall of the cleaning bin, a sleeve is fixedly mounted on the upper end of the limiting piece, a limiting groove for limiting the sleeve is provided on the cleaning bin, a plurality of sliding rods attracted by the magnetic force of the magnetic rod are slidably mounted on the inner wall on one side of the limiting groove, and the sliding rods are arranged to be horizontally arranged.

[0007] Preferably, a limit plate is fixedly installed at one end of the sliding member, the cleaning wipe is slidably installed in the limit plate, a push rod is slidably installed in the sliding member, one end of the push rod is inserted into the push plate, and the other end is fixedly connected to the inner wall of the sliding member with a spring, a connecting rope is fixedly connected between the push rod and the cleaning wipe, a sliding bar limited by the push rod is slidably installed inside the push plate, a plurality of telescopic rods are fixedly connected between the sliding bar and the inner wall of the push plate, and the elastic force of the spring is greater than the elastic force of the telescopic rod, and the magnetic rod is fixedly connected to the upper end of the sliding bar.

[0008] Preferably, a guide rod is fixedly mounted on one end of the sliding member, and a guide groove for limiting the guide rod is provided on the inner wall of the cleaning chamber, and the guide groove is provided in a wave shape.

[0009] Preferably, a plurality of pistons are fixedly mounted on one side of the slide bar, a plurality of slide cylinders cooperating with the pistons are fixedly mounted in the push plate, the slide cylinders correspond to the pistons one by one, a rubber ring is fixedly mounted on the end of each slide cylinder, and each rubber ring is arranged in a funnel shape.

[0010] Preferably, a slide groove is provided in the inner wall of the cleaning bin, a magnetic strip for magnetically resetting the slide rod is slidably installed in the slide groove, a wedge block is fixedly installed at one end of the magnetic strip, a wedge strip cooperating with the wedge block is slidably installed on the inner wall of the cleaning bin, and a limit strip cooperating with the wedge strip is fixedly installed on the push plate.

[0011] Preferably, a pressure strip for limiting the sliding rod is slidably installed in the cleaning chamber, the pressure strip is located above the sliding rod, and a plurality of telescopic columns are fixedly connected to the inner wall of the cleaning chamber, one end of the pressure strip is fixedly connected to a triangular block that cooperates with the limiting strip, and the triangular block is slidably installed on the inner wall of the cleaning chamber.

[0012] Preferably, a third gear is rotatably mounted at the lower end of the motor, a first gear is fixedly mounted on the rotating shaft, a second gear meshing with the first gear is coaxially fixedly mounted on the third gear, and a rack meshing with the third gear is fixedly mounted in the inner wall of the cleaning bin.

[0013] Preferably, the diameter of the second gear is larger than that of the first gear, and the length of the protruding teeth of the third gear and the rack are both larger than the width of the limiting groove.

[0014] Preferably, a scraper bar for scraping off impurities on the surface of the cleaning wipe and excess cleaning liquid is fixedly mounted on the inner wall of the cleaning chamber, and a scraper for scraping off impurities on the surface of the cleaning roller is fixedly mounted on the limiting member.

[0015] Preferably, a plurality of balls for reducing friction are provided on one side of the cleaning wipe.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention utilizes a cylinder to push the push plate to move, sprays cleaning liquid on the lens surface through a nozzle, and limits the guide rod through a wavy guide groove, so that the sliding part drives the cleaning wipe to slide back and forth on the lens surface in a wavy shape, so that the cleaning liquid can be evenly applied and the lens surface can be pre-cleaned for the first time. At the same time, the cleaning wipe will encounter resistance when it contacts the stubborn impurities adhered to the lens surface, and drive the magnetic rod to perform telescopic movement. Through the magnetic attraction of the magnetic rod to the sliding rod, the sliding rod is arranged into a straight line or a wavy line according to the adhesion of impurities on the lens surface.

[0018] 2. The present invention utilizes a motor to drive the rotating shaft to rotate, and through the cooperation of the third gear and the rack, the rotating shaft drives the limiter to move. The elastic force of the elastic rod makes the sleeve always close to the slide bar. According to the straight line or wavy line formed by the end of the slide bar, the distance between the cleaning roller and the lens will be adjusted, so that the surface of the cleaning roller is compressed, and the cleaning force is increased. The cleaning roller will no longer be compressed after passing through the impurity adhesion area, preventing damage to the lens caused by excessive cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the internal structure of the cleaning chamber of the present invention;

[0021] Figure 3 It is a schematic diagram of the internal structure of the sliding part of the present invention;

[0022] Figure 4 This is a schematic diagram of the internal structure of the push plate of the present invention;

[0023] Figure 5 This is a schematic diagram of the internal structure of the slide barrel of the present invention;

[0024] Figure 6 It is a schematic diagram of the magnetic strip structure of the present invention;

[0025] Figure 7This is a schematic diagram of the wedge-shaped strip structure of the present invention;

[0026] Figure 8 This is a schematic diagram of the layering structure of the present invention;

[0027] Fig. 9 It is a schematic diagram of the structure of the position-limiting member of the present invention;

[0028] Fig.10 This is a schematic diagram of the scraper structure of the present invention;

[0029] Fig.11 This is a schematic diagram of the third gear and rack structure of the present invention;

[0030] Fig.12 This is a schematic diagram of the cleaning tank structure of the present invention;

[0031] Fig.13 It is a schematic diagram of the limiting groove structure of the present invention.

[0032] In the figure: 1. robot body; 2. robot arm; 3. lens; 4. cleaning chamber; 5. motor; 6. cylinder; 7. push plate; 8. sliding part; 9. limit plate; 10. guide rod; 11. cleaning wipe; 12. ball bearing; 13. connecting rope; 14. push rod; 15. spring; 16. slide bar; 17. telescopic rod; 18. magnetic rod; 19. slide cylinder; 20. piston; 21. rubber ring; 22. nozzle; 23. guide groove; 24. limit bar; 2 5. Magnetic strip; 26. Slide groove; 27. Slide rod; 28. Wedge strip; 29. ​​Wedge block; 30. Triangle block; 31. Pressure strip; 32. Telescopic column; 33. Rotating shaft; 34. Limiting groove; 35. Cleaning roller; 36. Limiting piece; 37. Elastic rod; 38. Guide block; 39. Straight groove; 40. Scraper; 41. Cleaning groove; 42. First gear; 43. Second gear; 44. Rack; 45. Scraper strip; 46. Sleeve; 47. Third gear. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figure 1-13The present invention provides a technical solution: an intelligent inspection robot with a self-cleaning function, comprising a robot body 1, a mechanical arm 2 is fixedly mounted on the robot body 1, a lens 3 is rotatably mounted on the end of the mechanical arm 2, a cleaning bin 4 for cleaning the lens 3 is fixedly mounted on the robot body 1, a cleaning slot 41 matching the lens 3 is arranged on the cleaning bin 4, when the robot body 1 detects that the picture taken by the lens 3 is not clear enough or there are debris, it means that the lens 3 needs to be cleaned, the mechanical arm 2 is controlled to be folded, and the lens 3 is controlled to be stuck in the cleaning slot 41 for cleaning, a cylinder 6 is fixedly mounted inside the cleaning bin 4, a push plate 7 is fixedly mounted on the output end of the cylinder 6, a nozzle 22 for spraying cleaning liquid is fixedly mounted on one side of the push plate 7, and the push plate 7 slides up A sliding member 8 is movably installed, a guide rod 10 is fixedly installed at one end of the sliding member 8, a guide groove 23 for limiting the guide rod 10 is arranged on the inner wall of the cleaning chamber 4, and the guide groove 23 is arranged in a wave shape. A cleaning wipe 11 is arranged on the sliding member 8, and a limit plate 9 is fixedly installed at one end of the sliding member 8. The cleaning wipe 11 is slidably installed in the limit plate 9, and a plurality of balls 12 for reducing friction are arranged on one side of the cleaning wipe 11. A push rod 14 is slidably installed in the sliding member 8, one end of the push rod 14 is inserted into the push plate 7, and a spring 15 is fixedly connected between the other end and the inner wall of the sliding member 8, and a connecting rope 13 is fixedly connected between the push rod 14 and the cleaning wipe 11, and a slide bar 16 limited by the push rod 14 is slidably installed inside the push plate 7, and a slide bar 16 is fixedly connected to the inner wall of the push plate 7. A plurality of telescopic rods 17 are fixedly connected, and the elastic force of the spring 15 is greater than the elastic force of the telescopic rod 17. A magnetic rod 18 driven by the cleaning wipe 11 is slidably installed on the upper end of the push plate 7. The magnetic rod 18 is fixedly connected to the upper end of the slide bar 16. A plurality of pistons 20 are fixedly installed on one side of the slide bar 16. A plurality of slide cylinders 19 matching the pistons 20 are fixedly installed in the push plate 7. The slide cylinders 19 correspond to the pistons 20 one by one. A rubber ring 21 is fixedly installed at the end of each slide cylinder 19. Each rubber ring 21 is funnel-shaped. A scraper 45 for scraping impurities and excess cleaning liquid on the surface of the cleaning wipe 11 is fixedly installed on the inner wall of the cleaning chamber 4. After the lens 3 is stuck in the cleaning groove 41, the cylinder 6 will extend, and the nozzle 22 will spray cleaning liquid to the lens 3. The cylinder 6 pushes The push plate 7 and the nozzle 22 move from one end of the lens 3 to the other end, and the push plate 7 will also drive the sliding member 8 to move. Through the limit of the guide rod 10 by the guide groove 23, the sliding member 8 will drive the limit plate 9 and the cleaning wipe 11 to slide back and forth in a wave shape. During the sliding process of the cleaning wipe 11 on the surface of the lens 3, the cleaning liquid can be evenly applied, and the surface of the lens 3 is pre-cleaned for the first time. If there are no stubborn impurities adhering to the surface of the lens 3, the cleaning wipe 11 will not be subject to large resistance, and will not slide in the limit plate 9, and will not pull the connecting rope 13 and the push rod 14, and the sliding bar 16 and the magnetic rod 18 will not move. When impurities adhering to the surface of the lens 3 appear, the cleaning wipe 11 will be subject to resistance and slide in the limit plate 9.The greater the resistance encountered by the cleaning wipe 11, the greater the distance it slides in the limit plate 9. When the cleaning wipe 11 slides, the connecting rope 13 will be pulled to make the push rod 14 move into the sliding member 8 and compress the spring 15. Since the elastic force of the spring 15 is greater than the elastic force of the telescopic rod 17, the telescopic rod 17 will be in a compressed state in the initial state. When the push rod 14 moves into the sliding member 8, the elastic force of the telescopic rod 17 itself will push the slide bar 16 to move outward from the push plate 7, and the slide bar 16 will drive the magnetic rod 18 to move synchronously with the piston 20. The piston 20 moves outward in the slide cylinder 19, and the air moves into the slide cylinder 19 from the middle hole of the rubber ring 21. The inner ring of the rubber ring 21 moves into the slide cylinder 19 under the air pressure, and the hole of the rubber ring 21 is enlarged so that the air entry will not be hindered. The greater the resistance encountered by the cleaning wipe 11, the farther the slide bar 16 drives the magnetic rod 18 to move. When the cleaning wipe 11 wipes off impurities or passes through the impurity position , the elastic force of the spring 15 will push the push rod 14 to reset, and drive the connecting rope 13 and the cleaning wipe 11 to reset in the limit plate 9. At the same time, the push rod 14 will push the slide bar 16 and the magnetic rod 18 to reset. The slide bar 16 will drive the piston 20 to move into the slide cylinder 19. The air in the slide cylinder 19 will be discharged outward through the middle hole of the rubber ring 21. Since the rubber ring 21 is arranged in a funnel shape, when the air is discharged outward, the inner ring of the rubber ring 21 will be subjected to the air pressure and move outward from the slide cylinder 19, causing the inner ring of the rubber ring 21 to deform and make the middle hole smaller. The efficiency of air discharge will be reduced, so that the slide bar 16 drives the magnetic rod 18 to reset slowly. After the cleaning wipe 11 completes the initial cleaning of the lens surface and the detection of impurities, the cylinder 6 will continue to drive it to move one end distance. The scraper bar 45 on the inner wall of the cleaning chamber 4 will contact the surface of the cleaning wipe 11, and the impurities and cleaning liquid adhering to the surface of the cleaning wipe 11 will be scraped off, so as to facilitate the next use of the cleaning wipe 11. ,

[0035] A motor 5 is slidably mounted on the upper end of the cleaning bin 4, a rotating shaft 33 is fixedly mounted on the output end of the motor 5, a cleaning roller 35 for cleaning the lens 3 is fixedly mounted on the rotating shaft 33, the cleaning roller 35 is made of elastic material, a limiting member 36 is rotatably mounted on the rotating shaft 33, a scraper 40 for scraping impurities on the surface of the cleaning roller 35 is fixedly mounted on the limiting member 36, an elastic rod 37 is fixedly mounted on the limiting member 36, a guide block 38 is fixedly mounted on one end of the elastic rod 37, a straight groove 39 for limiting the guide block 38 is provided on the inner wall of the cleaning bin 4, a third gear 47 is rotatably mounted on the lower end of the motor 5, a first gear 42 is fixedly mounted on the rotating shaft 33, a second gear 43 meshing with the first gear 42 is coaxially fixedly mounted on the third gear 47, a rack 44 meshing with the third gear 47 is fixedly mounted in the inner wall of the cleaning bin 4, the diameter of the second gear 43 is larger than the first gear 42, and the third gear The convex teeth lengths of the wheel 47 and the rack 44 are both greater than the width of the limiting groove 34. A sleeve 46 is fixedly installed on the upper end of the limiting member 36. The cleaning chamber 4 is provided with a limiting groove 34 for limiting the sleeve 46. A plurality of slide bars 27 attracted by the magnetic force of the magnetic rod 18 are slidably installed on the inner wall of one side of the limiting groove 34. The slide bars 27 are arranged in a transverse arrangement. When the magnetic rod 18 slides, a magnetic attraction force is generated on the slide bar 27, so that the slide bar 27 moves outward from the inner wall of the cleaning chamber 4 and enters the limiting groove 34 to contact the end of the magnetic rod 18. Then, when the magnetic rod 18 moves to align with the next slide bar 27, the magnetic attraction step of the slide bar 27 is repeated again. By analogy, if the cleaning wipe 11 encounters no resistance during the movement, the magnetic rod 18 will not slide on the push plate 7, the spacing between the magnetic rod 18 and all the slide bars 27 is kept consistent, and the movement amplitudes of all the slide bars 27 attracted by the magnetic force of the magnetic rod 18 will be synchronized. Fig.13As shown, the ends of the slide bar 27 will form a straight line. If the cleaning wipe 11 encounters resistance during movement, it will drive the magnetic rod 18 to slide on the push plate 7. The more firmly the impurities adhere, the greater the movement amplitude of the magnetic rod 18 when passing through the impurity adhesion position, the spacing between the magnetic rod 18 and the corresponding slide bar 27 will be shortened, and the corresponding movement amplitude of the slide bar 27 will be smaller, so that the ends of the slide bar 27 will no longer form a straight line, and the sliding distance of the slide bar 27 corresponding to the impurity position will be reduced. Since the magnetic rod 18 retracts and resets slowly, the end of the slide bar 27 will form a smooth wavy line and The corresponding part of the impurity is recessed toward the side of the lens 3. After the cylinder 6 moves to the right position, the motor 5 will start, driving the shaft 33 to rotate, the shaft 33 will drive the first gear 42 to rotate, the first gear 42 will drive the second gear 43 and the third gear 47 to rotate. Since the diameter of the second gear 43 is larger than the first gear 42, the rotation speed of the third gear 47 will be slowed down. Through the cooperation of the third gear 47 and the rack 44, the motor 5 will drive the shaft 33 and the sleeve 46 to move along the limit groove 34, and the limit member 36 will drive the elastic rod 37 and the guide block 38 to slide along the straight groove 39, and the elastic rod 37 The elastic force of the elastic rod 37 will push the limiter 36 and the cleaning roller 35 to move toward the lens 3, and the rotating shaft 33 will drive the cleaning roller 35 to rotate to clean the lens 3. At the same time, the limiter 36 will be driven by the elastic force of the elastic rod 37 to drive the sleeve 46 to contact the end of the slide bar 27. When the cleaning roller 35 passes through the impurity adhesion area, the sleeve 46 will also pass through the concave part of the wavy line formed by the end of the slide bar 27. The elastic rod 37 will push the limiter 36 and the cleaning roller 35 to shorten the distance with the lens 3, so that the surface of the cleaning roller 35 is compressed, thereby improving the cleaning force of the cleaning roller 35. When the impurities are more firmly adhered, the end of the slide bar 27 will The deeper the depression of the wavy line, the more the surface of the cleaning roller 35 is compressed, and the cleaning force of the cleaning roller 35 is effectively adjusted according to the firmness of the impurity adhesion. When the cleaning roller 35 passes the impurity adhesion area, the sleeve 46 will move again to the straight line formed by the end of the slide bar 27, so that the surface of the cleaning roller 35 is no longer compressed, reducing the cleaning force and preventing damage to the lens 3 due to excessive cleaning. In addition, since the convex tooth lengths of the third gear 47 and the rack 44 are both greater than the width of the limiting groove 34, when the motor 5 drives the third gear 47 to slide, the third gear 47 can always maintain a meshing state with the rack 44.

[0036] A slide groove 26 is provided in the inner wall of the cleaning chamber 4, and a magnetic strip 25 for magnetically resetting the slide rod 27 is slidably installed in the slide groove 26. A wedge block 29 is fixedly installed at one end of the magnetic strip 25. A wedge strip 28 cooperating with the wedge block 29 is slidably installed on the inner wall of the cleaning chamber 4, and a limit strip 24 cooperating with the wedge strip 28 is fixedly installed on the push plate 7. In the initial state, the limit strip 24 will push the wedge strip 28 to move into the inner wall of the cleaning chamber 4, and the wedge strip 28 will be pushed by the cooperation of the inclined surface at the end of the wedge strip 28 and the inclined surface of the wedge block 29. The block 29 drives the magnetic strip 25 to move upward in the slide groove 26, and the magnetic strip 25 will be aligned with the slide bar 27 and located on the same horizontal line, so that the slide bar 27 retracts. When the push plate 7 drives the limit strip 24 to move, the limit strip 24 will release the limit on the wedge strip 28, and the gravity of the magnetic strip 25 will drive the wedge block 29 to move downward in the slide groove 26, so that the magnetic strip 25 is released from the alignment state with the slide bar 27, and no longer generates magnetic attraction to the slide bar 27. The slide bar 27 can be attracted by the magnetic force of the magnetic rod 18 to move, and the wedge strip 28 will move upward. The inner wall of the cleaning bin 4 moves outside. When the cylinder 6 drives the push plate 7 to retract, the limit strip 24 will cooperate with the inclined surface of the head end of the wedge strip 28, so that the wedge strip 28 moves toward the inner wall of the cleaning bin 4 again, so that the slide bar 27 retracts again. A pressure strip 31 for limiting the slide bar 27 is slidably installed in the cleaning bin 4. The pressure strip 31 is located above the slide bar 27 and is fixedly connected to the inner wall of the cleaning bin 4 by a plurality of telescopic columns 32. One end of the pressure strip 31 is fixedly connected to a triangular block 30 that cooperates with the limit strip 24. The triangular block 30 is slidably installed on On the inner wall of the cleaning chamber 4, when the cylinder 6 completes the extension, the limit strip 24 will cooperate with the inclined surface of the triangular block 30, so that the triangular block 30 drives the pressure strip 31 to move downward, and the pressure strip 31 presses the slide bar 27 to prevent the slide bar 27 from sliding and stretch the telescopic column 32. When the cylinder 6 retracts, the limit strip 24 no longer cooperates with the inclined surface of the triangular block 30, and the elastic force of the telescopic column 32 will drive the pressure strip 31 and the triangular block 30 to move upward and reset. The pressure strip 31 no longer limits the slide bar 27, and the slide bar 27 can retract due to the magnetic attraction of the magnetic strip 25.

[0037] Specifically, when the robot body 1 detects that the picture taken by the lens 3 is not clear enough or there are debris, it means that the lens 3 needs to be cleaned, and the robot arm 2 is controlled to be folded, and the lens 3 is controlled to be inserted into the cleaning slot 41 for cleaning. After the lens 3 is inserted into the cleaning slot 41, the cylinder 6 will extend, and at the same time, the nozzle 22 will spray cleaning liquid to the lens 3. The cylinder 6 pushes the push plate 7 and the nozzle 22 to move from one end of the lens 3 to the other end, and the push plate 7 will also drive the sliding member 8 to move. Through the limit of the guide rod 10 by the guide groove 23, the sliding member 8 will drive the limit plate 9 and the cleaning wipe 11 to slide back and forth in a wave shape. During the sliding process on the surface of the lens 3, the cleaning wipe 11 can evenly apply the cleaning liquid and perform the initial pre-cleaning on the surface of the lens 3. If the surface of the lens 3 is If there are no stubborn impurities adhering to the surface of the lens 3, the cleaning wipe 11 will not encounter much resistance and will not slide in the limiting disk 9. When impurities adhering to the surface of the lens 3 appear, the cleaning wipe 11 will encounter resistance and slide in the limiting disk 9. The more firmly the impurities adhere, the greater the resistance encountered by the cleaning wipe 11 and the greater the sliding distance in the limiting disk 9. When the cleaning wipe 11 slides, it will pull the connecting rope 13 to make the push rod 14 move into the sliding member 8 and compress the spring 15. Since the elastic force of the spring 15 is greater than the elastic force of the telescopic rod 17, the telescopic rod 17 will be in a compressed state in the initial state. When the push rod 14 moves into the sliding member 8, the elastic force of the telescopic rod 17 itself will push the slide bar 16 to move outward from the push plate 7, and the slide bar 16 will drive the magnetic rod 18 and the piston 20 to move synchronously. The piston 20 moves outward in the slide cylinder 19, and the air will not be hindered from moving into the slide cylinder 19 through the middle hole of the rubber ring 21. The greater the resistance to the cleaning wipe 11, the farther the slide bar 16 drives the magnetic rod 18 to move. When the cleaning wipe 11 wipes off impurities or passes through the impurity area, the elastic force of the spring 15 will push the push rod 14 to reset, and drive the connecting rope 13 and the cleaning wipe 11 to reset in the limit plate 9. At the same time, the push rod 14 will push the slide bar 16 and the magnetic rod 18 to reset, and the slide bar 16 will drive the piston 20 to move into the slide cylinder 19. The air in the slide cylinder 19 will be discharged outward through the middle hole of the rubber ring 21. Since the rubber ring 21 is arranged in a funnel shape, when the air is discharged outward, the rubber ring 21 will deform to make the middle hole smaller, and the efficiency of air discharge will be reduced. , so that the slide bar 16 drives the magnetic rod 18 to slowly reset. In the initial state, the limit bar 24 will push the wedge-shaped bar 28 to move toward the inner wall of the cleaning chamber 4. Through the cooperation of the inclined surface at the end of the wedge-shaped bar 28 and the inclined surface of the wedge-shaped block 29, the wedge-shaped block 29 will be pushed to drive the magnetic strip 25 to move upward in the slide groove 26. The magnetic strip 25 will be aligned with the slide bar 27 and located on the same horizontal line, so that the slide bar 27 will retract. When the push plate 7 drives the limit bar 24 to move, the limit bar 24 will release the limit on the wedge bar 28, and the gravity of the magnetic strip 25 will drive the wedge block 29 to move downward in the slide groove 26, so that the magnetic strip 25 will be released from the alignment state with the slide bar 27, and no longer generate magnetic attraction on the slide bar 27. The slide bar 27 can be attracted by the magnetic force of the magnetic rod 18 to move. When the cylinder 6 completes the extension,The limit strip 24 will cooperate with the inclined surface of the triangular block 30, so that the triangular block 30 drives the pressure strip 31 to move downward, and the pressure strip 31 presses the slide bar 27 tightly, so that the slide bar 27 will not slide, and the telescopic column 32 will be stretched. When the magnetic rod 18 slides, it will generate a magnetic attraction on the slide bar 27, so that the slide bar 27 moves outward from the inner wall of the cleaning chamber 4 and enters the limit groove 34. If the cleaning wipe 11 does not encounter resistance during the movement, the magnetic rod 18 will not slide, and the movement amplitude of all the slide bars 27 will be synchronized. Fig.13 As shown, the end of the slide bar 27 will form a straight line. If the cleaning wipe 11 encounters resistance during the movement, it will drive the magnetic rod 18 to slide, and the more firmly the impurities adhere, the greater the movement amplitude of the magnetic rod 18 when passing through the impurity adhesion area, and the corresponding movement amplitude of the slide bar 27 will be smaller, so that the end of the slide bar 27 no longer forms a straight line, and because the magnetic rod 18 retracts and resets slowly, the end of the slide bar 27 will form a smooth wavy line. After the cylinder 6 moves to the right position, the motor 5 will start, driving the rotating shaft 33 to rotate, and the rotating shaft 33 will The first gear 42 is driven to rotate, and the first gear 42 will drive the second gear 43 and the third gear 47 to rotate. Since the diameter of the second gear 43 is larger than that of the first gear 42, the rotation speed of the third gear 47 will be slowed down. Through the cooperation of the third gear 47 and the rack 44, the motor 5 will drive the rotating shaft 33 to move along the limiting groove 34, and the limiting member 36 will drive the elastic rod 37 and the guide block 38 to slide along the straight groove 39. The elastic force of the elastic rod 37 will push the limiting member 36 and the cleaning roller 35 to move toward the lens 3, and the rotating shaft 33 drives the cleaning roller 35 to rotate. The lens 3 is cleaned by the elastic force of the elastic rod 37, and the stopper 36 drives the sleeve 46 to contact the end of the slide bar 27. When the cleaning roller 35 passes through the impurity adhesion area, the sleeve 46 will also pass through the concave part of the wavy line formed by the end of the slide bar 27. The elastic rod 37 will push the stopper 36 and the cleaning roller 35 to shorten the distance with the lens 3, so that the surface of the cleaning roller 35 is compressed, thereby improving the cleaning force of the cleaning roller 35. Moreover, when the impurities are more firmly adhered, the concave part of the wavy line formed by the end of the slide bar 27 is deeper, and the surface of the cleaning roller 35 is The more the surface is compressed, the more effectively the cleaning force of the cleaning roller 35 can be adjusted according to the firmness of impurity adhesion. When the cleaning roller 35 passes the impurity adhesion site, the sleeve 46 will move again to the straight line formed by the ends of the slide bar 27, so that the surface of the cleaning roller 35 is no longer compressed, thereby reducing the cleaning force and preventing damage to the lens 3 due to excessive cleaning. Moreover, since the convex tooth lengths of the third gear 47 and the rack 44 are both greater than the width of the limiting groove 34, when the motor 5 drives the third gear 47 to slide, the third gear 47 can always maintain a meshing state with the rack 44.

[0038] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent inspection robot with a self-cleaning function, comprising a robot body (1), characterized in that: A mechanical arm (2) is fixedly mounted on the robot body (1), a lens (3) is rotatably mounted on the end of the mechanical arm (2), a cleaning chamber (4) for cleaning the lens (3) is fixedly mounted on the robot body (1), a cleaning slot (41) matching the lens (3) is provided on the cleaning chamber (4), a cylinder (6) is fixedly mounted inside the cleaning chamber (4), a push plate (7) is fixedly mounted on the output end of the cylinder (6), a nozzle (22) for spraying a cleaning liquid is fixedly mounted on one side of the push plate (7), a sliding member (8) is slidably mounted on the push plate (7), a cleaning wipe (11) is provided on the sliding member (8), and a magnetic rod (18) driven by the cleaning wipe (11) is slidably mounted on the upper end of the push plate (7); A motor (5) is slidably mounted on the upper end of the cleaning chamber (4); a rotating shaft (33) is fixedly mounted on the output end of the motor (5); a cleaning roller (35) for cleaning the lens (3) is fixedly mounted on the rotating shaft (33); the cleaning roller (35) is made of elastic material; a limiting member (36) is rotatably mounted on the rotating shaft (33); an elastic rod (37) is fixedly mounted on the limiting member (36); a guide block is fixedly mounted on one end of the elastic rod (37) (38), a straight groove (39) for limiting the guide block (38) is arranged on the inner wall of the cleaning chamber (4), a sleeve (46) is fixedly installed on the upper end of the limiting member (36), a limiting groove (34) for limiting the sleeve (46) is arranged on the cleaning chamber (4), and a plurality of sliding rods (27) attracted by the magnetic force of the magnetic rod (18) are slidably installed on the inner wall of one side of the limiting groove (34), and the sliding rods (27) are arranged to be horizontally arranged.

2. The intelligent inspection robot with self-cleaning function according to claim 1, characterized in that: A limiting disk (9) is fixedly installed at one end of the sliding member (8), and the cleaning wipe (11) is slidably installed in the limiting disk (9). A push rod (14) is slidably installed in the sliding member (8), one end of the push rod (14) is inserted into the push plate (7), and a spring (15) is fixedly connected between the other end and the inner wall of the sliding member (8), a connecting rope (13) is fixedly connected between the push rod (14) and the cleaning wipe (11), a sliding bar (16) limited by the push rod (14) is slidably installed inside the push plate (7), a plurality of telescopic rods (17) are fixedly connected between the sliding bar (16) and the inner wall of the push plate (7), and the elastic force of the spring (15) is greater than the elastic force of the telescopic rod (17), and the magnetic rod (18) is fixedly connected to the upper end of the sliding bar (16).

3. The intelligent inspection robot with self-cleaning function according to claim 2, characterized in that: A guide rod (10) is fixedly mounted on one end of the sliding member (8), and a guide groove (23) for limiting the guide rod (10) is provided on the inner wall of the cleaning chamber (4), and the guide groove (23) is provided in a wave shape.

4. The intelligent inspection robot with self-cleaning function according to claim 2, characterized in that: A plurality of pistons (20) are fixedly mounted on one side of the slide bar (16), and a plurality of slide cylinders (19) matched with the pistons (20) are fixedly mounted inside the push plate (7). The slide cylinders (19) correspond to the pistons (20) one by one, and a rubber ring (21) is fixedly mounted on the end of each slide cylinder (19), and each rubber ring (21) is arranged in a funnel shape.

5. The intelligent inspection robot with self-cleaning function according to claim 1, characterized in that: A slide groove (26) is provided in the inner wall of the cleaning chamber (4), a magnetic strip (25) for magnetically resetting the slide rod (27) is slidably installed in the slide groove (26), a wedge block (29) is fixedly installed at one end of the magnetic strip (25), a wedge strip (28) matching with the wedge block (29) is slidably installed on the inner wall of the cleaning chamber (4), and a limit strip (24) matching with the wedge strip (28) is fixedly installed on the push plate (7).

6. The intelligent inspection robot with self-cleaning function according to claim 5, characterized in that: A pressure strip (31) for limiting the position of the slide bar (27) is slidably installed in the cleaning chamber (4); the pressure strip (31) is located above the slide bar (27) and is fixedly connected to the inner wall of the cleaning chamber (4) by a plurality of telescopic columns (32); one end of the pressure strip (31) is fixedly connected to a triangular block (30) that matches the limiting strip (24); and the triangular block (30) is slidably installed on the inner wall of the cleaning chamber (4).

7. The intelligent inspection robot with self-cleaning function according to claim 1, characterized in that: A third gear (47) is rotatably mounted on the lower end of the motor (5); a first gear (42) is fixedly mounted on the rotating shaft (33); a second gear (43) meshing with the first gear (42) is coaxially fixedly mounted on the third gear (47); and a rack (44) meshing with the third gear (47) is fixedly mounted on the inner wall of the cleaning chamber (4).

8. The intelligent inspection robot with self-cleaning function according to claim 7, characterized in that: The diameter of the second gear (43) is greater than that of the first gear (42), and the lengths of the protruding teeth of the third gear (47) and the rack (44) are both greater than the width of the limiting groove (34).

9. The intelligent inspection robot with self-cleaning function according to claim 1, characterized in that: A scraper bar (45) for scraping off impurities and excess cleaning liquid on the surface of the cleaning wipe (11) is fixedly mounted on the inner wall of the cleaning chamber (4), and a scraper plate (40) for scraping off impurities on the surface of the cleaning roller (35) is fixedly mounted on the limiting member (36).

10. The intelligent inspection robot with self-cleaning function according to claim 2, characterized in that: A plurality of rolling balls (12) for reducing friction are arranged on one side of the cleaning wipe (11).

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