Clearing robot

Abstract

The present disclosure relates to the field of cleaning equipment, and provides a warehouse cleaning robot. The warehouse cleaning robot comprises a walking frame and an oscillation generating mechanism, the oscillation generating mechanism is arranged on the walking frame, and the oscillation generating mechanism comprises a base, a knocking structure and a first driving member; wherein one end of the knocking structure is hinged to the base, the first driving member is arranged on the base, the output end of the first driving member is in transmission connection with the end of the knocking structure, and the first driving member is used for driving the knocking structure to swing relative to the base, so that the knocking structure performs a knocking action. The warehouse cleaning robot provided by the present disclosure can move around the silo through the walking frame, and the walking frame is provided with the oscillation generating mechanism. 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 the silo. The movement of the walking frame can realize more comprehensive knocking treatment of the silo, improve the cleaning effect, save manpower, and reduce the risk of manual cleaning.

Description

Technical Field

[0001] This disclosure relates to the technical field of silo cleaning, and more particularly to a silo cleaning robot. Background Technology

[0002] The calcium carbide furnace is the main equipment for producing calcium carbide. Inside the furnace, the high temperature generated by the electric arc melts the furnace charge, causing a reaction that produces calcium carbide. During the production process, filtration equipment is required to filter dust from the furnace gas.

[0003] The filtration equipment includes cyclone dust collectors, air coolers, and filters installed at different locations along the pipeline. Dust filtered from the air coolers and filters accumulates in the conical hoppers at the bottom of these hoppers. Dust tends to accumulate in these hoppers, easily causing blockages and furnace blockages if not cleaned promptly, requiring furnace cleaning and production shutdowns, significantly increasing costs. Current technology typically cleans the hoppers using electric vibrators or manual tapping. However, electric vibrators, welded to a fixed position within the hopper, cannot thoroughly clean the hopper, resulting in poor cleaning effectiveness. Furthermore, manual cleaning is time-consuming, labor-intensive, and raises concerns about personnel safety. Summary of the Invention

[0004] The technical problem to be solved by this disclosure is that the current electric vibrators and manual cleaning methods cannot completely clean the hopper, resulting in poor cleaning effect. Furthermore, manual cleaning is time-consuming, labor-intensive, and cannot guarantee safety.

[0005] To address the aforementioned technical problems, this disclosure provides a clearance robot, comprising: Walking frame; An oscillation generating mechanism is mounted on the walking frame, and the oscillation generating mechanism includes a base, a striking structure, and a first driving component; Wherein, one end of the striking structure is hinged to the base, the first driving member is disposed on the base, the output end of the first driving member is connected to the end of the striking structure, and the first driving member is used to drive the striking structure to swing relative to the base so that the striking structure performs a striking action.

[0006] In some embodiments, the striking structure includes a hinged arm, a rocker arm, and a striking hammer. One end of the hinged arm is hinged to the base so as to be rotatable relative to the base, and the other end of the hinged arm is hinged to the rocker arm. The striking hammer is disposed at the end of the rocker arm away from the hinged arm.

[0007] In some embodiments, the hammer has a wheel-shaped structure, and the wheel-shaped hammer is rotatably mounted on the rocker arm.

[0008] In some embodiments, the base includes two mounting plates and a bottom plate connected to the ends of the two mounting plates, the two mounting plates being spaced apart to form a space through which the striking structure can pass.

[0009] In some embodiments, the first driving member is used to drive the striking structure to rotate.

[0010] In some embodiments, the clearing robot further includes a drive mechanism disposed on the walking frame, the drive mechanism comprising: Mounting base; Two swing arms are hinged to both sides of the mounting base, and each of the two swing arms is equipped with the oscillation generating mechanism; The second drive unit is connected to the two swing arms and is capable of driving the two swing arms to move away from or closer to each other.

[0011] In some embodiments, the second driving member is a telescopic driving member, one end of the second driving member is disposed on the mounting base, and the other end of the second driving member is connected to the two swing arms through a linkage structure to drive the two swing arms to move.

[0012] In some embodiments, the linkage structure includes a sliding sleeve and two connecting rods. The sliding sleeve is sleeved on the end of the mounting base, and the two connecting rods are respectively disposed on both sides of the sliding sleeve, and their ends are respectively hinged to the swing arm and the sliding sleeve.

[0013] In some embodiments, the clearing robot further includes a large arm mounted on the walking frame, the large arm being used to support the oscillation generating mechanism, and the length of the large arm being adjustable.

[0014] In some embodiments, the large arm includes a support arm, a movable arm disposed on the support arm, and a transmission mechanism. The oscillation generating mechanism is disposed on the movable arm, and the transmission mechanism is capable of driving the movable arm to move relative to the support arm along the length direction of the movable arm.

[0015] In some embodiments, the clearance robot further includes a slewing mechanism and a third drive component. The slewing mechanism includes a slewing base mounted on the walking frame and a slewing support rotatably mounted on the slewing base. The slewing support is used to support the upper arm. The two ends of the third drive component are respectively connected to the slewing support and the upper arm and can drive the upper arm to perform pitching motion relative to the slewing support.

[0016] Through the above technical solution, the cleaning robot provided in this disclosure can move around the silo via a walking frame, and the walking frame is equipped with an oscillation generating mechanism. The first driving component of the oscillation generating mechanism drives the striking structure to swing relative to the base, so that the striking structure can strike the silo. In conjunction with the movement of the walking frame, the silo can be more thoroughly struck, improving the cleaning effect, saving manpower, and reducing the risk of manual cleaning. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a perspective view of the clearance robot according to an embodiment of the present disclosure; Figure 2 This is a floor plan of the clearance robot according to an embodiment of this disclosure; Figure 3 This is a perspective view of the oscillation generating mechanism according to an embodiment of the present disclosure; Figure 4 This is a cross-sectional view of the oscillation generating mechanism according to an embodiment of this disclosure; Figure 5 This is a perspective view of the drive mechanism according to an embodiment of the present disclosure; Figure 6 This is a schematic diagram of the drive mechanism according to an embodiment of the present disclosure.

[0019] Explanation of reference numerals in the attached figures: 1. Track; 2. Walking frame; 21. Car body; 22. Support frame; 3. Control system; 4. Third drive component; 5. Rotation mechanism; 51. Rotation motor; 52. Rotation support; 53. Rotation base; 6. Boom; 61. Moving arm; 62. Support arm; 63. Transmission mechanism; 64. Guide mechanism; 7. Oscillation generating mechanism; 71. Base; 72. First drive component; 73. Articulated arm; 74. Rocker arm; 75. Striking hammer; 76. First pin; 77. Second pin; 78. Transmission shaft; 8. Drive mechanism; 81. Mounting seat; 82. Sliding sleeve; 83. Third drive component; 84. Connecting rod; 85. Swing arm. Detailed Implementation

[0020] The embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of this disclosure by way of example, but should not be used to limit the scope of this disclosure. This disclosure can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0021] These embodiments are provided to make the disclosure thorough and complete, and to fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0022] It should be noted that, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationship, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] Furthermore, the terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after the word, and do not exclude the possibility of encompassing other elements as well.

[0024] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure depending on the specific circumstances. When a particular device is described as being located between a first device and a second device, an intermediary device may or may not be present between the particular device and the first or second device.

[0025] All terms used in this disclosure have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0026] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0027] Combination Figures 1 to 6 As shown, the clearance robot provided in this disclosure includes a walking frame 2 and an oscillation generating mechanism 7. The oscillation generating mechanism 7 is mounted on the walking frame 2, which enables the oscillation generating mechanism 7 to move along a preset route or autonomously. The mechanism driving the oscillation generating mechanism 7 includes a base 71, a striking structure, and a first driving member 72. One end of the striking structure is hinged to the base 71. The first driving member 72 is mounted on the base 71, and its output end is drively connected to the end of the striking structure. The first driving member 72 drives the striking structure to swing relative to the base 71, thereby causing the striking structure to perform a striking action.

[0028] The cleaning robot disclosed herein can move around the silo via a walking frame 2. The walking frame 2 is equipped with an oscillation generating mechanism 7. The first driving component 72 of the oscillation generating mechanism 7 drives the striking structure to swing relative to the base 71, so that the striking structure can strike the silo. In conjunction with the movement of the walking frame 2, the silo can be more thoroughly struck, improving the cleaning effect, saving manpower, and reducing the risk of manual cleaning.

[0029] In some embodiments, the oscillation generating mechanism 7 includes a base 71, a striking structure, and a first driving member 72. The first driving member 72 is located on the base 71 and is connected to one end of the striking hammer structure that is hinged to the base 71. The first driving member 72 can drive the striking hammer structure to swing relative to the base 71 to achieve a striking action.

[0030] In some embodiments, the first driving member 72 of the striking drive can be an electric motor, a hydraulic motor, or an engine, etc., which can be selected according to actual needs.

[0031] In some embodiments, the oscillation generating mechanism 7 is mounted on the walking frame 2, which can move on the ground or other supporting foundation to move around the silo to be cleaned. This allows the oscillation generating mechanism 7 to tap different locations of the silo, i.e., to tap the outer wall of the silo through the tapping structure, thereby causing the dust adhering to the inner wall of the silo to detach, so as to avoid or alleviate the accumulation of dust on the silo.

[0032] In some embodiments, the walking frame 2 can be driven by electricity, fuel, or other means, and the choice can be made according to actual needs.

[0033] In some embodiments, combined with Figure 3 and Figure 4 As shown, the striking structure includes a hinged arm 73, a rocker arm 74, and a striking hammer 75. One end of the hinged arm 73 is hinged to the base 71 so that it can rotate relative to the base 71. The other end of the hinged arm 73 is hinged to the rocker arm 74. The striking hammer 75 is located at the end of the rocker arm 74 away from the hinged arm 73.

[0034] The striking structure in this design adopts a deformable arm structure. The movable arm has a two-section structure, namely, the movable arm includes a hinged arm 73 and a rocker arm 74. The rocker arm 74 can rotate relative to the hinged arm 73. When the striking hammer 75 does not collide with the hopper, the rocker arm 74 and the hinged arm 73 form a straight shape as a whole. When the striking hammer 75, which rotates relative to the base 71, collides with the hopper, the rocker arm 74 rotates relative to the hinged arm 73, and the movable arm forms a bent shape, which allows the striking hammer 75 to avoid the hopper. Therefore, the movable arm can complete a full rotation relative to the base 71.

[0035] In some embodiments, the hammer 75 may be made of metal or alloy, preferably copper, and will not generate sparks when it collides with the hopper, thus avoiding the combustion of flammable materials inside the hopper and having an explosion-proof function.

[0036] In some embodiments, the striking hammer 75 is a wheel-like structure rotatably mounted on the first rocker arm 74. Continuing to refer to... Figure 3 and Figure 4 The striking hammer 75 adopts a wheel-shaped structure, and the wheel-shaped striking hammer 75 is rotatably mounted on the rocker arm 74.

[0037] In this design, when the outer peripheral surface of the hammer 75 collides with the hopper, the hammer 75 rotates relative to the rocker arm 74 under the action of friction between the hammer 75 and the hopper, and rolling friction is formed between the hammer 75 and the surface of the hopper, which can reduce the wear on the hopper.

[0038] In some embodiments, such as Figure 3 As shown, the base 71 includes two mounting plates and a base 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 structures. The two mounting plates are spaced apart and parallel to each other. One end of the mounting plate is connected to the base plate, and the other end of the mounting plate is hinged 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 clearance space.

[0039] In some embodiments, the first drive member 72 is used to drive the striking structure to rotate. In this case, the first drive member 72 is used as a torque output member. The torque output member can be a motor, engine, or hydraulic motor, etc., and can be designed according to actual needs. In other embodiments, the first drive member 72 can also be a hydraulic cylinder, pneumatic cylinder, etc., which can drive the articulated arm 73 to rotate by cooperating with a crank-connecting rod mechanism. These are not limiting.

[0040] In some embodiments, the clearance robot further includes a drive mechanism 8 mounted on the walking frame 2. The drive mechanism 8 includes a mounting base 81, two swing arms 85 and a second drive member 83. The two swing arms are hinged to both sides of the mounting base 81. Each of the two swing arms 85 is provided with an oscillation generating mechanism 7. The second drive member 83 is connected to the two swing arms 85 and can drive the swing arms 85 to move away from or closer to each other.

[0041] The drive mechanism 8 includes a mounting base 81, two swing arms 85, and a second drive member 83. An oscillation generating mechanism 7 is mounted on the swing arms 85. When the second drive member 83 drives the swing arms 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 it can approach the hopper. The second drive member 83 is synchronously connected to the two swing arms 85, thus driving both swing arms 85 to rotate simultaneously relative to the mounting base 81, causing the two swing arms 85 to move closer or further apart. The drive mechanism 8 adjusts the position of the oscillation generating mechanism 7 within a small range, while the traveling frame 2 adjusts the position of the oscillation generating mechanism 7 within a larger range. When the traveling frame 2 is on a horizontal plane, the hinge axis between the swing arms 85 and the mounting base 81 can be approximately perpendicular to the horizontal plane, allowing the swing arms 85 to adjust the horizontal position of the oscillation generating mechanism 7 as they swing.

[0042] In some embodiments, the second driving member 83 is a telescopic driving member. One end of the second driving member 83 is disposed on the mounting base 81, and the other end of the second driving member 83 is connected to two swing arms 85 through a linkage structure to drive the two swing arms 85 to move. The second driving member 83 can be a hydraulic cylinder, pneumatic cylinder, or electric cylinder, etc., with one end fixed to the mounting base 81 and the other end connected to the swing arms 85 through a linkage structure. The telescopic movement of the second driving member 83 can drive the two swing arms 85 to move.

[0043] In some embodiments, the linkage structure includes a sliding sleeve 82 and two connecting rods 84. The sliding sleeve 82 is sleeved on the end of the mounting base 81, and the two connecting rods 84 are respectively disposed on both sides of the sliding sleeve 82, with their ends hinged to the swing arm 85 and the sliding sleeve 82, respectively. The mounting base 81 is generally strip-shaped, with a second driving member 83 connected to the side of one end. The sliding sleeve 82 is slidably sleeved on the other end of the mounting base 81, guiding the extension and retraction of the second driving member 83, and can be connected to the two connecting rods 84. The connecting rods 84 are located on both sides of the sliding sleeve 82, with their ends connected to the side of the sliding sleeve 82 and the side of the swing arm 85, respectively. Therefore, when the second driving member 83 extends or retracts, the sliding sleeve 82 moves in a straight line, causing the end of the connecting rod 84 connected to the sliding sleeve 82 to move in a straight line, driving the swing arm 85 to rotate relative to the mounting base 81.

[0044] In some embodiments, the side of the swing arm 85 is provided with a protrusion for hinged connection with 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.

[0045] In some embodiments, reference Figure 4 As shown, the sliding sleeve 82 and the mounting base 81 are respectively provided with hinge plates that are hinged to both ends of the telescopic drive member. The sliding sleeve 82 is also provided with a hinge plate that is rotatably hinged to the connecting rod 84, and the mounting base 81 is also provided with a hinge plate that is rotatably hinged to the swing arm 85.

[0046] In other embodiments, the connecting rod 84 can be directly hinged to one end of the second driving member 83 (telescopic driving member), and the other end of the second driving member 83 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. One end of the telescopic driving member is connected to the mounting base 81, and the other end is connected to the swing arm 85, which can also drive 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 reciprocate.

[0047] In some embodiments, the warehousing robot further includes a large arm 6 mounted on the walking frame 2. The large arm 6 supports the oscillation generating mechanism 7, and its length is adjustable. The large arm 6 can be positioned at the top of the walking frame 2, extending approximately parallel to the horizontal plane, or inclined at a small angle to the horizontal plane. The oscillation generating mechanism 7 (and drive mechanism 8) can be located at one end of the large arm 6. When the large arm 6 is inclined, the oscillation generating mechanism 7 is positioned at its higher end. The adjustable length of the large arm 6 allows it to extend and retract relative to the walking frame 2 at the end where the oscillation generating mechanism 7 is located, adjusting the relative position of the oscillation generating mechanism 7 so that it can move to a position where it can strike the hopper.

[0048] In some embodiments, the upper arm 6 includes a support arm 62, a movable arm 61 disposed on the support arm 62, and a transmission mechanism 63. An oscillation generating mechanism 7 is disposed on the movable arm 61. The transmission mechanism 63 can drive 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) is 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, it can cause the oscillation generating mechanism 7 to extend or retract relative to the support arm 62.

[0049] In some embodiments, the transmission mechanism 63 may include a motor, a chain, and a sprocket. When the motor is running, it can drive the sprocket to rotate through the chain. The movable arm 61 is provided with a rack that meshes 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.

[0050] Of course, in other embodiments, the transmission mechanism 63 may also include a hydraulic cylinder, a pneumatic cylinder, etc., with its two ends respectively connected to the movable arm 61 and the support arm 62. The support arm 62 may be generally formed in the shape of a sleeve, with the movable arm 61 passing through it.

[0051] In some embodiments, the main arm 6 includes a guide mechanism 64 disposed on the support arm 62 and supporting and guiding the movable arm 61. The guide mechanism 64 includes a plurality of rotatable guide rollers disposed on the support arm 62 and surrounding the movable arm 61. The movable arm 61 is held between the guide rollers. The guide rollers guide the relative movement of the movable arm 61 on the support arm 62 and reduce friction between the movable arm 61 and the support arm 62. The guide mechanism 64 and the transmission mechanism 63 can be spaced apart along the length of the support arm 62 to support the movable arm 61 at two different positions; for example, a sprocket and guide rollers support the movable arm 61 at different positions along the length. When the movable arm 61 has a rectangular cross-section, guide rollers can be disposed on the top, bottom, left, and right sides of the movable arm 61 to support and guide it.

[0052] In some embodiments, such as Figure 1 As shown, the clearance robot also includes a rotary mechanism 5 and a third drive component 4. The rotary mechanism 5 includes a rotary base 53 mounted on the walking frame 2 and a rotary support 52 rotatably mounted on the rotary base 53. The rotary support 52 is used to support the upper arm 6. The two ends of the third drive component 4 are respectively connected to the rotary support 52 and the upper arm 6 and can drive the upper arm 6 to perform pitching motion relative to the rotary support 52.

[0053] In some embodiments, the boom 6 can be directly or indirectly hinged to the traveling frame 2 via a generally horizontally extending hinge axis. The third drive member 4 can drive the boom 6 to rotate about the horizontally extending hinge axis, i.e., to perform pitch motion, to adjust the height of the oscillation generating mechanism 7 on the boom 6. The third drive member 4 can be a hydraulic cylinder, pneumatic cylinder, electric cylinder, etc., with one end hinged to the boom 6 (e.g., support arm 62) and the other end hinged to the slewing support 52 of the slewing mechanism 5 on or below the traveling frame 2. In other embodiments, the third drive member 4 can also be a motor, engine, or hydraulic motor, etc.

[0054] In some embodiments, the slewing mechanism 5 may include a slewing base 53 and a slewing support 52 rotatably mounted on the slewing base 53. The slewing base 53 is mounted on the traveling frame 2, and the slewing support 52 is provided with a large arm 6, for example, a support arm 62 is rotatably hinged to the slewing support 52. A slewing motor 51 or other similar driving member is mounted on the slewing base 53 or the slewing support 52 to drive the slewing support 52 to rotate relative to the slewing base 53. The axis of rotation of the slewing support 52 may be substantially perpendicular to the support bottom surface of the traveling frame 2 (the support bottom surface refers to the plane defined by multiple support points (e.g., support points of the traveling wheels) at the bottom of the traveling frame 2, and when the traveling frame 2 is mounted on the ground or other support surface, this plane is coplanar with the ground or other support surface).

[0055] Hinges can be provided on the slewing support 52 and the support arm 62 respectively, so as to be rotatably hinged to both ends of the third drive component 4 (oil cylinder, air cylinder, etc.).

[0056] In some embodiments, the cleaning robot further includes a track 1, on which a walking frame 2 is movably mounted. Wheels may be mounted on the bottom of the walking frame 2, and the track 1 supports and guides the movement of the walking frame 2. The track 1 may be positioned around the hopper to be cleaned. Alternatively, the walking frame 2 may be positioned directly on the ground around the hopper.

[0057] The traveling frame 2 may include a vehicle body 21 and a support frame 22 set 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). The support frame 22 is provided with a slewing mechanism 5. The support frame 22 can raise the support height so that the slewing mechanism 5, the boom 6 and the oscillation generating mechanism 7 are at a suitable height.

[0058] In some embodiments, the clearing robot also includes a control system 3, which can control the operation of the walking 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, control switches, etc. The motor drives 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 to the cylinders of various mechanisms, such as providing power to the third drive component 4 and the third and second drive components 83. The PLC and control switches cooperate with each other to control the operation of various mechanisms, such as the third drive component 4, the first drive component 72, the third and second drive components 83, the motor of the walking frame 2, the rotary motor 51 of the rotary mechanism 5, etc.

[0059] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0060] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any manner.

Claims

1. A warehouse clearance robot, characterized in that, include: Walking frame (2); An oscillation generating mechanism (7) is provided on the walking frame (2). The oscillation generating mechanism (7) includes a base (71), a striking structure, and a first driving member (72). Wherein, one end of the striking structure is hinged to the base (71), the first driving member (72) is disposed on the base (71), the output end of the first driving member (72) is connected to the end of the striking structure, and the first driving member (72) is used to drive the striking structure to swing relative to the base (71) so that the striking structure can perform a striking action; The striking structure includes a hinged arm (73), a rocker arm (74), and a striking hammer (75). One end of the hinged arm (73) is hinged to the base (71) so that it can rotate relative to the base (71). The other end of the hinged arm (73) is hinged to the rocker arm (74). The striking hammer (75) is located at the end of the rocker arm (74) away from the hinged arm (73). The warehouse clearing robot also includes a drive mechanism (8) mounted on the walking frame (2), the drive mechanism (8) comprising: Mounting bracket (81); Two swing arms (85) are hinged to both sides of the mounting base (81), and the two swing arms (85) are each provided with the oscillation generating mechanism (7). The second drive member (83) is connected to the two swing arms (85) and can drive the two swing arms (85) to move away from or closer to each other. The second drive member (83) is a telescopic drive member. One end of the second drive member (83) is disposed on the mounting base (81), and the other end of the second drive member (83) is connected to the two swing arms (85) through a linkage structure to drive the two swing arms (85) to move.

2. The warehouse clearance robot according to claim 1, characterized in that, The hammer (75) has a wheel-shaped structure and is rotatably mounted on the rocker arm (74).

3. The warehouse clearance robot according to claim 1, characterized in that, 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 through which the striking structure can pass.

4. The warehouse clearance robot according to claim 1, characterized in that, The linkage structure includes a sliding sleeve (82) and two connecting rods (84). The sliding sleeve (82) is sleeved on the end of the mounting base (81), and the two connecting rods (84) are respectively disposed on both sides of the sliding sleeve (82), and their ends are respectively hinged to the swing arm (85) and the sliding sleeve (82).

5. The warehouse clearance robot according to claim 1, characterized in that, The clearance robot also includes a large arm (6) mounted 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) being adjustable.

6. The warehouse clearance robot according to claim 5, characterized in that, The upper 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). The transmission mechanism (63) can drive the movable arm (61) to move relative to the support arm (62) along the length direction of the movable arm (61).

7. The warehouse clearance robot according to claim 6, characterized in that, The clearing robot also includes a rotary mechanism (5) and a third drive component (4). The rotary mechanism (5) includes a rotary base (53) mounted on the walking frame (2) and a rotary support (52) rotatably mounted on the rotary base (53). The rotary support (52) is used to support the upper arm (6). The two ends of the third drive component (4) are respectively connected to the rotary support (52) and the upper arm (6) and can drive the upper arm (6) to perform pitching motion relative to the rotary support (52).

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