Warehouse cleaning robot

Abstract

The invention relates to the field of cleaning equipment, and provides a warehouse cleaning robot. The bin cleaning robot comprises a walking frame and an oscillation generating mechanism, and the oscillation generating mechanism is arranged on the walking frame and comprises a base, a knocking structure and a first driving part; wherein one end of the knocking structure is hinged to the base, the first driving piece is arranged on the base, the output end of the first driving piece is in transmission connection with the end of the knocking structure, and the first driving piece is used for driving the knocking structure to swing relative to the base so that the knocking structure can conduct knocking action. The bin cleaning robot can move around the bin through the walking frame, the vibration generation mechanism is arranged on the walking frame, and the first driving piece of the vibration generation mechanism drives the knocking structure to swing relative to the base, so that the knocking structure can knock the bin; and more comprehensive knocking treatment on the stock bin can be achieved in cooperation with movement of the walking frame, the cleaning effect is improved, manpower is saved, and the manual cleaning risk is reduced.

Description

Technical Field

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

[0002] The calcium carbide furnace is the primary equipment for producing calcium carbide. Inside the furnace, the high temperatures generated by the electric arc cause the charge to melt and react, producing calcium carbide. During the production process, filtration equipment is required to remove dust from the furnace gas.

[0003] The filtering equipment includes a cyclone dust collector, an air cooler, and a filter installed at different locations in the pipeline. The dust filtered out of the air cooler and filter is concentrated in the conical silo at the bottom of the air cooler and filter. Dust easily accumulates in the conical silo of the air cooler and filter. If not cleaned in time, it is easy to clog and cause the furnace to be blocked. Cleaning the furnace requires production to be stopped, which greatly increases costs. In the existing technology, the silo is usually cleaned by electric vibrators or manual knocking. Among them, because the electric vibrator is welded to a fixed position on the silo, it cannot knock the silo comprehensively, resulting in poor cleaning effect. In addition, manual cleaning is time-consuming and labor-intensive, and personnel safety cannot be guaranteed. Summary of the Invention

[0004] The technical problem to be solved by the present disclosure is that the current electric oscillator and manual cleaning methods cannot fully clean the silo, resulting in poor cleaning effect, and manual cleaning is time-consuming and labor-intensive, and safety cannot be guaranteed.

[0005] To solve the above technical problems, the present disclosure provides a warehouse cleaning robot, comprising:

[0006] Walking frame;

[0007] an oscillation generating mechanism, disposed on the walking frame, the oscillation generating mechanism comprising a base, a striking structure and a first driving member;

[0008] Among them, one end of the knocking structure is hingedly connected to the base, the first driving member is arranged on the base, the output end of the first driving member is transmission-connected to the end of the knocking structure, and the first driving member is used to drive the knocking structure to swing relative to the base so that the knocking structure performs a knocking action.

[0009] In some embodiments, the striking structure includes an articulated arm, a rocker arm, and a striking hammer, one end of the articulated arm is hingedly connected to the base so as to be able to rotate relative to the base, the other end of the articulated arm is articulatedly connected to the rocker arm, and the striking hammer is arranged at an end of the rocker arm away from the articulated arm.

[0010] In some embodiments, the striking hammer adopts a wheel-shaped structure, and the striking hammer of the wheel-shaped structure is rotatably arranged on the rocker arm.

[0011] In some embodiments, the base includes two mounting plates and a bottom plate connected to the ends of the two mounting plates, and the two mounting plates are spaced apart to form a space for the knocking structure to pass through.

[0012] In some embodiments, the first driving member is used to drive the striking structure to rotate.

[0013] In some embodiments, the warehouse cleaning robot further includes a driving mechanism disposed on the walking frame, and the driving mechanism includes:

[0014] Mounting seat;

[0015] Two swing arms are hingedly arranged on both sides of the mounting base, and the oscillation generating mechanism is arranged on both swing arms;

[0016] The second driving member is connected to the two swing arms and can drive the two swing arms to move away from or towards each other.

[0017] In some embodiments, the second driving member is a telescopic driving member, one end of the second driving member is arranged on the mounting seat, and the other end of the second driving member is connected to the two swing arms through a connecting rod structure to drive the two swing arms to move.

[0018] In some embodiments, the connecting rod structure includes a sliding sleeve and two connecting rods. The sliding sleeve is mounted on the end of the mounting seat. The two connecting rods are respectively arranged on both sides of the sliding sleeve, and both ends are hinged to the swing arm and the sliding sleeve respectively.

[0019] In some embodiments, the warehouse cleaning robot further includes a large arm disposed on the walking frame, the large arm being used to support the oscillation generating mechanism, and the length of the large arm being adjustable.

[0020] In some embodiments, the large arm includes a support arm, a movable arm provided on the support arm, and a transmission mechanism. The oscillation generating mechanism is provided on the movable arm, and the transmission mechanism can drive the movable arm to move relative to the support arm along the length direction of the movable arm.

[0021] In some embodiments, the warehouse cleaning robot also includes a slewing mechanism and a third driving member, the slewing mechanism includes a slewing base arranged on the walking frame and a slewing support rotatably arranged on the slewing base, the slewing support is used to support the upper arm, and the two ends of the third driving member are respectively connected to the slewing support and the upper arm and can drive the upper arm to perform pitch motion relative to the slewing support.

[0022] Through the above technical solution, the warehouse cleaning robot provided by the present invention can move around the silo through a traveling frame, and an oscillation generating mechanism is provided on the traveling frame. The first driving member of the oscillation generating mechanism drives the knocking structure to swing relative to the base, so that the knocking structure can knock on the silo. In conjunction with the movement of the traveling frame, a more comprehensive knocking treatment of the silo can be achieved, thereby improving the cleaning effect, saving manpower, and reducing the risk of manual cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 is a perspective view of a warehouse clearance robot according to an embodiment of the present disclosure;

[0025] Figure 2 is a plan view of a warehouse clearance robot according to an embodiment of the present disclosure;

[0026] Figure 3 is a perspective view of an oscillation generating mechanism according to an embodiment of the present disclosure;

[0027] Figure 4 is a cross-sectional view of an oscillation generating mechanism according to an embodiment of the present disclosure;

[0028] Figure 5 is a perspective view of a driving mechanism according to an embodiment of the present disclosure;

[0029] Figure 6 Schematic diagram of the structure of the driving mechanism of the embodiment of the present disclosure.

[0030] Description of reference numerals:

[0031] 1. Track; 2. Traveling frame; 21. Vehicle body; 22. Support frame; 3. Control system; 4. Third drive member; 5. Rotating mechanism; 51. Rotating motor; 52. Rotating support; 53. Rotating base; 6. Upper arm; 61. Moving arm; 62. Support arm; 63. Transmission mechanism; 64. Guide mechanism; 7. Oscillation generating mechanism; 71. Base; 72. First drive member; 73. Articulated arm; 74. Rocker arm; 75. Hammer; 76. First pin; 77. Second pin; 78. Transmission shaft; 8. Driving mechanism; 81. Mounting seat; 82. Sliding sleeve; 83. Third drive member; 84. Connecting rod; 85. Swing arm. DETAILED DESCRIPTION

[0032] The following embodiments of the present disclosure are further described in detail with reference to the accompanying drawings and examples. The detailed description of the following examples and the accompanying drawings are intended to illustrate the principles of the present disclosure, but are not intended to limit the scope of the present disclosure. The present disclosure can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but rather includes all technical solutions within the scope of the claims.

[0033] The present disclosure provides these embodiments in order to make this disclosure thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that: unless otherwise specifically stated, the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values ​​set forth in these embodiments should be interpreted as merely exemplary, and not as limiting.

[0034] It should be noted that, in the description of this disclosure, unless otherwise specified, "plurality" means greater than or equal to two; terms such as "upper," "lower," "left," "right," "inner," and "outer" indicating directions or positional relationships are intended solely to facilitate and simplify the description of this disclosure, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0035] In addition, the terms "first," "second," and similar terms used in this disclosure do not denote any order, quantity, or importance, but are merely used to distinguish different parts. "Perpendicular" does not mean perpendicular in the strict sense, but rather means within the tolerance range. "Parallel" does not mean parallel in the strict sense, but rather means within the tolerance range. "Include" or "comprising" and similar terms mean that the elements preceding the term include the elements listed after the term, and do not exclude the possibility of also including other elements.

[0036] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in this disclosure depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intervening device between the specific device and the first or second device.

[0037] All terms used in this disclosure have the same meaning as understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined as such herein.

[0038] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0039] Combine Figures 1 to 6 As shown, the warehouse cleaning robot provided by the present disclosure includes a walking frame 2 and an oscillation generating mechanism 7. The oscillation generating mechanism 7 is arranged on the walking frame 2, and the walking frame 2 can drive the oscillation generating mechanism 7 along a preset route or walk on its own. The oscillation generating mechanism 7 includes a base 71, a knocking structure and a first driving member 72. One end of the knocking structure is hingedly connected to the base 71, and the first driving member 72 is arranged on the base 71. The output end of the first driving member 72 is transmission-connected to the end of the knocking structure, and the first driving member 72 is used to drive the knocking structure to swing relative to the base 71, so that the knocking structure performs a knocking action.

[0040] The warehouse cleaning robot provided by the present invention can move around the silo through the walking frame 2, and the walking frame 2 is provided with an oscillation generating mechanism 7. The first driving member 72 of the oscillation generating mechanism 7 drives the knocking structure to swing relative to the base 71, so that the knocking structure can knock on the silo. In conjunction with the movement of the walking frame 2, a more comprehensive knocking treatment of the silo can be achieved, thereby improving the cleaning effect, saving manpower, and reducing the risk of manual cleaning.

[0041] In some embodiments, the oscillation generating mechanism 7 includes a base 71, a knocking structure and a first driving member 72. The first driving member 72 is located on the base 71. The first driving member 72 is hinged to one end of the base 71 and is transmission-connected to the knocking hammer structure. The first driving member 72 can drive the knocking hammer structure to swing relative to the base 71 to achieve a knocking action.

[0042] In some embodiments, the first driving member 72 of the knocking driving member can be an electric motor, a hydraulic motor or an engine, etc., which can be selected according to actual needs.

[0043] In some embodiments, the oscillation generating mechanism 7 is arranged on the traveling frame 2, and the traveling frame 2 can move on the ground or other supporting basis to move around the silo to be cleaned, so that different positions of the silo can be knocked by the oscillation generating mechanism 7, that is, the outer wall of the silo is knocked by the knocking structure, so that the dust attached to the inner wall of the silo is detached to avoid or alleviate the accumulation of dust on the silo.

[0044] In some embodiments, the traveling frame 2 can be driven by electricity, fuel, or other driving methods, which can be selected according to actual needs.

[0045] In some embodiments, combined Figure 3 and Figure 4 As shown, the striking structure includes an articulated arm 73, a rocker arm 74 and a striking hammer 75. One end of the articulated arm 73 is hingedly connected to the base 71 so as to be able to rotate relative to the base 71. The other end of the articulated arm 73 is articulatedly connected to the rocker arm 74. The striking hammer 75 is arranged at the end of the rocker arm 74 away from the articulated arm 73.

[0046] The striking structure under this design adopts a variable arm structure, and the movable arm is a two-section structure, that is, the movable arm includes an articulated arm 73 and a rocker arm 74. The rocker arm 74 can rotate relative to the articulated arm 73. When the striking hammer 75 does not collide with the silo, the rocker arm 74 and the articulated arm 73 are formed into a straight shape as a whole. When the striking hammer 75 rotating relative to the base 71 collides with the silo, the rocker arm 74 rotates relative to the articulated arm 73, and the movable arm forms a bent shape, thereby allowing the striking hammer 75 to avoid the silo. Therefore, the movable arm can complete a complete rotation relative to the base 71.

[0047] In some embodiments, the striking hammer 75 can be made of metal or alloy, preferably copper, which will not generate sparks when colliding with the silo, thus avoiding combustion of combustible materials inside the silo and having an explosion-proof effect.

[0048] In some embodiments, the hammer 75 is a wheel-shaped structure rotatably mounted on the first rocker arm 74. Figure 3 and Figure 4 The striking hammer 75 adopts a wheel-shaped structure, and the striking hammer 75 of the wheel-shaped structure is rotatably set on the rocker arm 74.

[0049] Under this design, when the outer surface of the hammer 75 collides with the silo, the hammer 75 rotates relative to the rocker arm 74 under the action of the friction between the hammer 75 and the silo, and rolling friction is formed between the hammer 75 and the surface of the silo, which can reduce the wear on the silo.

[0050] In some embodiments, as Figure 3 As shown, the base 71 includes two mounting plates and a bottom plate connected to the ends of the two mounting plates. The two mounting plates are spaced apart to form a space for the striking structure to pass through. The mounting plates can be strip-shaped plates, and the two mounting plates are spaced apart and arranged in parallel. One end of the mounting plate is connected to the bottom plate, and the other end of the mounting plate is hingedly connected to the striking structure, for example, to the hinged arm 73. The space between the two mounting plates allows the hinged arm 73, the rocker arm 74, and the striking hammer 75 to pass through during rotation, providing a clearance space.

[0051] In some embodiments, the first driving member 72 is used to drive the striking structure to rotate. In this case, the first driving member 72 serves as a torque output member. The torque output member can be an electric motor, an engine, or a hydraulic motor, and can be designed according to actual needs. In other embodiments, the first driving member 72 can also be an oil cylinder, an air cylinder, etc., which can drive the articulated arm 73 to rotate by cooperating with the crank-connecting rod mechanism. These are not restrictive.

[0052] In some embodiments, the warehouse clearing robot also includes a driving mechanism 8 arranged on the walking frame 2, the driving mechanism 8 includes a mounting seat 81, two swing arms 85 and a second driving member 83, the two swing arms are hinged on both sides of the mounting seat 81, and the two swing arms 85 are each provided with an oscillation generating mechanism 7. The second driving member 83 is connected to the two swing arms 85 and can drive the swing arms 85 away from or closer to each other.

[0053] The driving mechanism 8 includes a mounting base 81, two swing arms 85 and a second driving member 83. The oscillation generating mechanism 7 is arranged on the swing arm 85. When the second driving member 83 drives the swing arm 85 to rotate relative to the mounting base 81, the oscillation generating mechanism 7 also rotates relative to the mounting base 81, thereby adjusting the position of the oscillation generating mechanism 7 so that the oscillation generating mechanism 7 can be close to the silo. The second driving member 83 is synchronously connected to the two swing arms 85, and therefore, can drive the two swing arms 85 to rotate relative to the mounting base 81 at the same time, so that the two swing arms 85 are close to or away from each other. Among them, the position adjustment of the oscillation generating mechanism 7 by the driving mechanism 8 is a small-scale adjustment, while the walking frame 2 adjusts the position of the oscillation generating mechanism 7 within a larger range. When the walking frame 2 is located on a horizontal plane, the hinge axis of the swing arm 85 and the mounting base 81 can be roughly perpendicular to the horizontal plane, and the horizontal position of the oscillation generating mechanism 7 can be adjusted when the swing arm 85 swings.

[0054] In some embodiments, the second driving member 83 is a telescopic driving member. One end of the second driving member 83 is mounted on the mounting base 81, and the other end of the second driving member 83 is connected to the two swing arms 85 via a connecting rod structure to drive the movement of the two swing arms 85. The second driving member 83 can be an oil cylinder, a pneumatic cylinder, or an electric cylinder, one end of which is fixed to the mounting base 81 and the other end is connected to the swing arms 85 via a connecting rod structure. The telescopic movement of the second driving member 83 can drive the movement of the two swing arms 85.

[0055] In some embodiments, the linkage structure includes a sleeve 82 and two linkages 84. The sleeve 82 is sleeved onto the end of the mounting base 81. The two linkages 84 are respectively disposed on either side of the sleeve 82, and their ends are respectively hinged to the swing arm 85 and the sleeve 82. The mounting base 81 is generally strip-shaped, with a second driving member 83 connected to the side of one end. The sleeve 82 is slidably sleeved onto the other end of the mounting base 81, guiding the telescopic movement of the second driving member 83 and connecting to the two linkages 84. The linkages 84 are located on either side of the sleeve 82, and their ends are respectively connected to the side of the sleeve 82 and the side of the swing arm 85. Therefore, when the second driving member 83 is extended or retracted, the sleeve 82 moves linearly, causing the end of the linkage 84 connected to the sleeve 82 to move linearly, driving the swing arm 85 to rotate relative to the mounting base 81.

[0056] In some embodiments, a protrusion is provided on the side of the swing arm 85 to be hinged to the connecting rod 84. The hinge point between the protrusion and the connecting rod 84 is different from the hinge point between the swing arm 85 and the mounting base 81, so that the connecting rod 84 can drive the swing arm 85 to rotate.

[0057] In some embodiments, reference Figure 4 As shown, the sliding sleeve 82 and the mounting seat 81 are respectively provided with hinged plates hinged to the two ends of the telescopic drive member, the sliding sleeve 82 is also provided with a hinged plate rotatably hinged to the connecting rod 84, and the mounting seat 81 is also provided with a hinged plate rotatably hinged to the swing arm 85.

[0058] In other embodiments, the connecting rod 84 can be directly hinged to one end of the second driving member 83 (the telescopic driving member), the other end of which is fixed to the mounting base 81. In this case, the sliding sleeve 82 is not provided. In still other embodiments, the sliding sleeve 82 and the connecting rod 84 can be omitted, and the telescopic driving member can be connected to the mounting base 81 at one end and the swing arm 85 at the other end, thereby driving the swing arm 85 to swing. Alternatively, the second driving member 83 can be a motor, engine, etc., which can also drive the swing arm 85 to swing back and forth.

[0059] In some embodiments, the warehouse cleaning robot also includes a large arm 6 arranged on the walking frame 2, and the large arm 6 is used to support the oscillation generating mechanism 7, and the length of the large arm 6 can be adjusted. Among them, the large arm 6 can be arranged on the top of the walking frame 2, and its extension direction can be roughly parallel to the horizontal plane, or it can be arranged at an angle, that is, a smaller angle is formed with the horizontal plane, and the oscillation generating mechanism 7 (and the driving mechanism 8) can be arranged at one end of the large arm 6. When the large arm 6 is arranged at an angle, the oscillation generating mechanism 7 can be located at the end with a higher height. The length of the large arm 6 can be adjusted, and the end thereof provided on the oscillation generating mechanism 7 can be extended and retracted relative to the walking frame 2 to adjust the relative position of the oscillation generating mechanism 7 so that the oscillation generating mechanism 7 moves to a position where it can strike the silo.

[0060] In some embodiments, the main arm 6 includes a support arm 62, a movable arm 61 disposed on the support arm 62, and a transmission mechanism 63. The oscillation generating mechanism 7 is disposed on the movable arm 61, and the transmission mechanism 63 is capable of driving the movable arm 61 to move relative to the support arm 62 along the length direction of the movable arm 61. The oscillation generating mechanism 7 (and the driving mechanism 8) are disposed at one end of the movable arm 61. When the transmission mechanism 63 drives the movable arm 61 to move relative to the support arm 62, the oscillation generating mechanism 7 can be driven to extend or retract relatively.

[0061] In some embodiments, the transmission mechanism 63 may include a motor, a chain and a sprocket. When the motor is running, the sprocket can be driven to rotate by the chain. The movable arm 61 is provided with a rack that engages with the sprocket and extends in the same direction as the movable arm 61. The rotation of the sprocket can drive the rack and the movable arm 61 to move relative to the support arm 62 along the length direction of the movable arm 61.

[0062] Of course, in other embodiments, the transmission mechanism 63 may also include an oil cylinder, an air cylinder, etc., with both ends respectively connected to the movable arm 61 and the support arm 62. The support arm 62 may be roughly formed in a sleeve shape, and the movable arm 61 is arranged through the support arm 62.

[0063] In some embodiments, the upper arm 6 includes a guide mechanism 64 provided on the support arm 62 and supporting and guiding the movable arm 61. The guide mechanism 64 includes a plurality of rotatable guide rollers provided on the support arm 62 and surrounding the movable arm 61. The movable arm 61 is clamped between the plurality of guide rollers. The guide rollers can guide the relative movement of the movable arm 61 on the support arm 62, and can reduce the friction between the movable arm 61 and the support arm 62. The guide mechanism 64 and the transmission mechanism 63 can be spaced apart in the longitudinal direction of the support arm 62 to support the movable arm 61 at two different positions. For example, the sprocket and the guide roller support the movable arm 61 at different positions in the longitudinal direction. In the case where the cross-section of the movable arm 61 is rectangular, guide rollers can be provided on the upper, lower, left and right sides of the movable arm 61 to support and guide the movable arm 61.

[0064] In some embodiments, as Figure 1 As shown, the warehouse cleaning robot also includes a slewing mechanism 5 and a third driving member 4. The slewing mechanism 5 includes a slewing base 53 arranged on the walking frame 2 and a slewing support 52 rotatably arranged on the slewing base 53. The slewing support 52 is used to support the upper arm 6. The two ends of the third driving member 4 are respectively connected to the slewing support 52 and the upper arm 6 and can drive the upper arm 6 to perform pitch motion relative to the slewing support 52.

[0065] In some embodiments, the boom 6 can be directly or indirectly hinged to the traveling frame 2 via a generally horizontally extending hinge axis, and the third drive member 4 can drive the boom 6 to rotate about the horizontally extending hinge axis, i.e., to perform a pitch motion, to adjust the height of the oscillation generating mechanism 7 on the boom 6. The third drive member 4 can be an oil cylinder, a pneumatic cylinder, an electric cylinder, etc., one end of which is hinged to the boom 6 (e.g., the support arm 62) and the other end of which is hinged to the traveling frame 2 or to the slewing support 52 of the slewing mechanism 5 below. In other embodiments, the third drive member 4 can also be an electric motor, an engine, or a hydraulic motor.

[0066] In some embodiments, the slewing mechanism 5 may include a slewing base 53 and a slewing support 52 rotatably disposed on the slewing base 53, the slewing base 53 being disposed on the walking frame 2, and a large arm 6 being disposed on the slewing support 52, for example, a support arm 62 being rotatably hinged to the slewing support 52. A slewing motor 51 or other similar driving member is disposed on the slewing base 53 or the slewing support 52 to drive the slewing support 52 to rotate relative to the slewing base 53, and the rotation axis of the slewing support 52 may be roughly perpendicular to the support bottom surface of the walking frame 2 (the support bottom surface refers to a plane jointly defined by multiple support points at the bottom of the walking frame 2 (for example, support points of the walking wheels), and when the walking frame 2 is disposed on the ground or other support surface, the plane is coplanar with the ground or other support surface).

[0067] Hinge plates may be provided on the rotary support 52 and the support arm 62 respectively, so as to be rotatably hinged to the two ends of the third driving member 4 (oil cylinder, air cylinder, etc.).

[0068] In some embodiments, the warehouse cleaning robot further includes a track 1, with a traveling frame 2 movably disposed on the track 1. The bottom of the traveling frame 2 may be provided with wheels, which are disposed on the track 1, and the track 1 can support and guide the movement of the traveling frame 2. The track 1 can be disposed around the silo to be cleaned. Of course, the traveling frame 2 can also be directly disposed on the ground around the silo.

[0069] The traveling frame 2 may include a vehicle body 21 and a support frame 22 arranged on the top of the vehicle body 21. The bottom of the vehicle body 21 is provided with traveling wheels and a drive motor (or engine). A slewing mechanism 5 is provided on the support frame 22. The support frame 22 can increase the support height so that the slewing mechanism 5, the upper arm 6 and the oscillation generating mechanism 7 are at a suitable height.

[0070] In some embodiments, the warehouse cleaning robot further includes a control system 3, which can control the operation of the traveling frame 2 and the oscillation generating mechanism 7. The control system 3 may include a motor, a hydraulic pump, an oil tank, a valve group, a PLC, a control switch, etc. The motor is used to drive the hydraulic pump. The hydraulic pump, oil tank, and valve group are connected by pipelines to form a hydraulic system, which can provide hydraulic power for the cylinders of various mechanisms, such as providing power for the third drive member 4 and the third and second drive members 83. The PLC and the control switch cooperate with each other to control the operation of various mechanisms, such as the third drive member 4, the first drive member 72, the third and second drive members 83, the motor of the traveling frame 2, the slewing motor 51 of the slewing mechanism 5, etc.

[0071] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0072] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. In particular, as long as there are no structural conflicts, the various technical features mentioned in the various embodiments may be combined in any manner.

Claims

1. A warehouse cleaning robot, characterized in that: include: Walking frame (2); An oscillation generating mechanism (7) is arranged on the walking frame (2), and the oscillation generating mechanism (7) comprises a base (71), a striking structure and a first driving member (72); One end of the knocking structure is hingedly connected to the base (71), the first driving member (72) is arranged on the base (71), the output end of the first driving member (72) is transmission-connected to the end of the knocking structure, and the first driving member (72) is used to drive the knocking structure to swing relative to the base (71) so that the knocking structure performs a knocking action.

2. The warehouse cleaning robot according to claim 1, characterized in that: The striking structure comprises an articulated arm (73), a rocking arm (74) and a striking hammer (75); one end of the articulated arm (73) is hingedly connected to the base (71) so as to be rotatable relative to the base (71); the other end of the articulated arm (73) is articulatedly connected to the rocking arm (74); and the striking hammer (75) is arranged at one end of the rocking arm (74) away from the articulated arm (73).

3. The warehouse cleaning robot according to claim 2, characterized in that: The striking hammer (75) adopts a wheel-shaped structure, and the striking hammer (75) of the wheel-shaped structure is rotatably arranged on the rocker arm (74).

4. The warehouse cleaning robot according to claim 2, characterized in that: The base (71) comprises two mounting plates and a bottom plate connected to the ends of the two mounting plates, and the two mounting plates are arranged at intervals to form a space for the knocking structure to pass through.

5. The warehouse cleaning robot according to claim 1, characterized in that: The warehouse cleaning robot further comprises a driving mechanism (8) arranged on the walking frame (2), wherein the driving mechanism (8) comprises: Mounting seat (81); Two swing arms (85) are hingedly arranged on both sides of the mounting seat (81), and the oscillation generating mechanism (7) is arranged on both swing arms (85); The second driving member (83) is connected to the two swing arms (85) and is capable of driving the two swing arms (85) to move away from or closer to each other.

6. The warehouse cleaning robot according to claim 5, characterized in that: The second driving member (83) is a telescopic driving member, one end of the second driving member (83) is arranged on the mounting seat (81), and the other end of the second driving member (83) is connected to the two swing arms (85) through a connecting rod structure to drive the two swing arms (85) to move.

7. The warehouse cleaning robot according to claim 6, characterized in that: The connecting rod structure comprises a sliding sleeve (82) and two connecting rods (84); the sliding sleeve (82) is sleeved on the end of the mounting seat (81); the two connecting rods (84) are respectively arranged on both sides of the sliding sleeve (82), and the two ends are respectively hinged to the swing arm (85) and the sliding sleeve (82).

8. The warehouse cleaning robot according to claim 1, characterized in that: The warehouse cleaning robot further comprises a large arm (6) arranged on the walking frame (2), the large arm (6) being used to support the oscillation generating mechanism (7), and the length of the large arm (6) is adjustable.

9. The warehouse cleaning robot according to claim 8, characterized in that: The large arm (6) comprises a support arm (62), a movable arm (61) arranged on the support arm (62), and a transmission mechanism (63); the oscillation generating mechanism (7) is arranged on the movable arm (61); and the transmission mechanism (63) is capable of driving the movable arm (61) to move relative to the support arm (62) along the length direction of the movable arm (61).

10. The warehouse cleaning robot according to claim 8, characterized in that: The warehouse cleaning robot further comprises a slewing mechanism (5) and a third driving member (4); the slewing mechanism (5) comprises a slewing base (53) arranged on the walking frame (2) and a slewing support (52) rotatably arranged on the slewing base (53); the slewing support (52) is used to support the upper arm (6); the two ends of the third driving member (4) are respectively connected to the slewing support (52) and the upper arm (6) and can drive the upper arm (6) to perform a pitching motion relative to the slewing support (52).

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