Surface ash accumulation robot cleaning structure, control method and car coupler body

Abstract

The invention relates to the technical field of railway wagon maintenance, and provides a surface dust accumulation robot cleaning structure which comprises a dust removal room body, an air outlet of the dust removal room body is connected with a negative pressure dust removal pipe, an output port of the negative pressure dust removal pipe is connected with a dust accumulation collecting box, and a robot base is arranged at the top end in the dust removal room body; a robot body and a floating rotating head connected with the head of the robot body through a connecting part are installed on a robot base, the head of the floating rotating head is coupled with an accumulated dust cleaning head, the rotating position of the floating rotating head is controlled through the robot body, and the floating rotating head drives the accumulated dust cleaning head to rotate through the rotating position. The accumulated dust on the surface cleaned in the rotating process of the accumulated dust cleaning head is covered in the dust removal room body, and the accumulated dust on the surface in the dust removal room body is sucked into the accumulated dust collection box through the negative pressure dust removal pipe, so that the accumulated dust on the surface is cleaned. The problem that the efficiency of cleaning dust on the surface of an object is low is solved.

Description

Technical Field

[0001] The invention relates to the technical field of railway freight car maintenance, and in particular to a surface dust cleaning robot structure, a control method and a coupler body. Background Art

[0002] Cleaning the dust on the surface of the coupler body and the drawbar is one of the necessary procedures for daily maintenance of the coupler body and the drawbar. The stability of its quality is responsible for the important task of high-speed and safe operation of the freight train. If the dust on the surface of the coupler body and the drawbar is not cleaned, when the dust falls into the key connection, it may cause safety hazards, which is a serious threat to the entire freight train, especially the heavy-load train, so it needs to be strictly removed.

[0003] At present, during the maintenance of the coupler, the cleaning of dust accumulation is mainly done manually. Workers use the tools at hand (such as steel brushes) to manually clean the dust accumulation on the surface of the hook body and the drawbar. The cleaning results are also manually identified by naked eyes and brushed again, resulting in unclean cleaning results and slow speed, thus low efficiency in cleaning the surface dust. Summary of the invention

[0004] The invention provides a surface dust cleaning robot structure, a control method and a coupler body, which are used for.

[0005] To achieve the above-mentioned objectives, the present invention provides a surface dust robot cleaning structure, comprising: a dust removal room body, an air outlet of the dust removal room body is connected to a negative pressure dust removal pipe, an output port of the negative pressure dust removal pipe is connected to a dust collection box, a robot base is arranged at the inner top end of the dust removal room body, a robot body is mounted on the robot base, a floating rotating head is connected to the head of the robot body via a connecting component, a dust cleaning head is coupled to the head of the floating rotating head, the rotation position of the floating rotating head is controlled by the robot body, and the floating rotating head drives the dust cleaning head to rotate according to the rotation position, so that the surface dust cleaned during the rotation of the dust cleaning head is covered in the dust removal room body, and the surface dust in the dust removal room body is sucked into the dust collection box through the negative pressure dust removal pipe to realize the cleaning of the surface dust.

[0006] Preferably, the connecting component comprises a bolt or a buckle, through which the head of the robot body is stably connected to the floating rotating head.

[0007] Preferably, the movement direction of the head of the robot body is an arbitrary direction, so that the telescopic arm in the robot body controls the aerial position of the floating rotating head.

[0008] Preferably, the floating rotating head rotates in a radial direction, so that when the floating rotating head drives the dust cleaning head to rotate, the dust cleaning head can adjust the cleaning position in different directions.

[0009] Preferably, the floating rotating head is made of a flexible material, so that when the floating rotating head drives the dust cleaning head to rotate, the contact angle can be flexibly adjusted according to the pressure change on the surface of the object.

[0010] The present invention also provides a control method for a surface dust robot cleaning structure, which generates a robot control program for a target workpiece according to a preset workpiece model; generates a cleaning trajectory for the target workpiece according to the robot control program; and controls the robot body to perform dust cleaning work through the cleaning trajectory.

[0011] Preferably, image data of the target workpiece after the dust cleaning work is performed is collected; the cleaning quality of the target workpiece is identified based on the image data; the cleaning trajectory is optimized based on the cleaning quality; the robot body is controlled to perform the dust cleaning work through the optimized cleaning trajectory, and returns to the step of collecting image data of the target workpiece after the dust cleaning work is performed, until the cleaning quality meets the preset quality standard.

[0012] Preferably, when the cleaning quality meets the preset quality standard, a cleaning record is generated according to the cleaning trajectory corresponding to the cleaning quality; the cleaning record is stored in a preset database, and the cleaning record in the database is visualized to obtain a visualized cleaning record.

[0013] The present invention also provides a coupler body, the surface of which is provided with a detachable surface dust robot cleaning structure.

[0014] Preferably, a hook body cleaning trajectory is generated according to the hook body shape of the coupler body, and the hook body cleaning trajectory is executed by the surface dust collection robot cleaning structure.

[0015] Compared with the prior art, the advantages of the present invention are that it effectively solves the problems of high labor intensity and high work consumption of workers, and the dust cleaning system has a special dust removal and sealing system, which can effectively prevent the dust accumulation and dust raising problem during cleaning. In addition, it is also equipped with preliminary visual inspection to monitor the cleaning quality of the coupler and the hook body surface, and has a special cleaning data record. After the operation, the data is automatically saved and uploaded, and workers do not need to make paper records. The data is saved in the database and the operator can query it at any time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0017] Figure 1 is a schematic structural diagram of a surface dust accumulation robot cleaning structure in an embodiment of the present invention;

[0018] Figure 2 It is a schematic structural diagram of the dust removal structure in an embodiment of the present invention.

[0019] Reference numerals:

[0020] 1. Robot base; 2. Robot body; 3. Connecting parts; 4. Floating rotating head; 5. Dust cleaning head; 6. Dust removal room; 7. Dust collection box; 8. Negative pressure dust removal pipe. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings 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 in 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. It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indication will also change accordingly.

[0022] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0023] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0024] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0026] Embodiment 1:

[0027] See also Figure 1 , a structural schematic diagram of a surface dust collection robot cleaning structure, including a dust removal room body 6, the air outlet of the dust removal room body 6 is connected to a negative pressure dust removal pipe 8, the output port of the negative pressure dust removal pipe 8 is connected to a dust collection box 7, a robot base 1 is arranged at the top inner side of the dust removal room body 6, a robot body 2 is mounted on the robot base 1, and a floating rotating head 4 is connected to the head of the robot body 2 through a connecting component 3.

[0028] Next, see Figure 1 and Figure 2 , Figure 2 It is a structural schematic diagram of a dust removal structure, which includes a floating rotating head 4 and a dust cleaning head 5 coupled to the head of the floating rotating head 4 .

[0029] It should be noted that the dust removal room body 6 is a closed space, and the surface dust cleaning work is carried out in the dust removal room body 6, and all the dust cleaned on the surface is covered to prevent dust from being raised during the cleaning process. The dust in the dust removal room body 6 is discharged through the air outlet of the dust removal room body 6, and the air outlet of the dust removal room body 6 is connected to the input port of the negative pressure dust removal pipe 8, so that the dust inside the dust removal room body 6 is transported to the dust collection box 7, and the dust in the dust removal room body 6 is sucked into the dust collection box 7 through the strong negative pressure and transmitted to the dust collection box 7 through the pipeline.

[0030] In addition, the dust removal room 6 covers all systems for surface cleaning to prevent dust from being raised during the cleaning process; the negative pressure dust removal pipe 8 is mainly used to absorb the flying dust to keep the environment inside the dust removal room 6 clean; the dust collection box 7 is mainly responsible for collecting the cleaned dust, and the internal dust collection barrel can be replaced regularly by manual labor.

[0031] It is worth noting that a robot base 1 is arranged at the inner top of the dust removal room 6, and a robot body 2 is installed on the robot base 1, so that the robot body 2 is hung upside down in the dust removal room 6, and a floating rotating head 4 connected to the head of the robot body 2 through a connecting component 3, and a dust cleaning head 5 coupled to the head of the floating rotating head 4 are also arranged inside the dust removal room 6.

[0032] Next, the connecting component 3 is a stabilizing component, through which the head of the robot body 2 is stably connected to the floating rotating head 4, wherein the stabilizing component can be a bolt or a snap to ensure a fixed connection between the floating rotating head 4 and the robot body 2, thereby ensuring stability during long-term use, that is, a stable connection is formed with the head of the robot body 2 through the stabilizing component, and the stable connection ensures that the floating rotating head 4 will not be unnecessarily deviated or loosened from the head of the robot body 2 during rotation or adjustment, thereby maintaining the integrity of the overall structure of the robot.

[0033] It should be noted that the moving direction of the head of the robot body 2 is any direction, so that the telescopic arm in the robot body 2 controls the aerial position of the floating rotating head 4, wherein the head of the robot body 2 can rotate or move freely in three-dimensional space and can be adjusted in any direction without restriction, such as the robot head can move up and down, left and right, front and back, and even rotate 360 ​​degrees to adapt to different task requirements, and the aerial position and posture of the floating rotating head 4 can be controlled by the telescopic arm in the robot body 2. The telescopic arm in the robot body 2 can not only change the spatial position of the floating rotating head, but also control its angle or direction to adapt to different task requirements, that is, the head of the robot body 2 is not fixed in a certain direction, but can rotate freely and adjust the direction as needed. Through the control of the telescopic arm, the robot can accurately adjust the position and angle of the floating rotating head 4, thereby accurately determining the spatial coordinates of the robot head in the air.

[0034] It is worth noting that the floating rotating head 4 has its own rotation direction radial floating, so that when the floating rotating head 4 drives the dust cleaning head 5 to rotate, the dust cleaning head 5 can adjust the cleaning position in different directions, wherein radial floating means that the floating rotating head 4 rotates along a center point (or axis) instead of rotating along a fixed angle, that is, the rotation of the floating rotating head 4 is not restricted by a fixed direction and can be adjusted in any direction, thereby providing a more flexible cleaning solution, and the floating feature can help the floating rotating head 4 adapt to the irregular shapes of the surfaces of the coupler and the hook body, ensuring that the cleaning work can cover the entire surface, and if there are protrusions or depressions on the surface of the coupler or the hook body, the floating rotating head 4 can adjust its position according to actual conditions to ensure that the dust cleaning head 5 always maintains effective contact with the surface.

[0035] Next, the floating rotating head 4 is made of a flexible material, so that when the floating rotating head 4 drives the dust cleaning head 5 to rotate, the contact angle can be flexibly adjusted according to the pressure change on the surface of the object, that is, the flexible material usually has a certain elasticity or bendability. Compared with rigid materials, flexible materials can better adapt to the shape, curvature and surface changes of the surface of the object. Therefore, the use of flexible materials in the floating rotating head 4 can make it more flexible and adapt to different working environments and surface conditions. Flexible materials may be rubber, silicone, certain polymers, etc. These materials can be deformed when subjected to external forces (such as pressure), but will return to their original shape. Therefore, the use of flexible materials allows the floating rotating head 4 to more flexibly cope with irregular or complex surfaces. If the cleaning head encounters a concave surface, the flexible material enables the floating rotating head 4 to bend or deform appropriately and adjust the contact angle, so that the dust cleaning head 5 can better contact the concave area for deeper cleaning; similarly, if the surface is relatively smooth, the contact angle may remain relatively flat.

[0036] For example, the surface of the coupler body or the drawbar may have some depressions, curves or protrusions. The floating rotating head 4 acts as a driving device and utilizes the characteristics of the flexible material. When it contacts these irregularities, it will automatically adjust the contact angle of the dust cleaning head 5 according to the change in surface pressure, ensuring that the cleaning effect is not affected by the surface shape and avoiding damage caused by too rigid an angle. The flexible material can automatically adapt to different pressures, ensuring that the dust cleaning head 5 can accurately dock with different surfaces, whether it is the curved surface of the coupler body or the drawbar, and can be efficiently cleaned.

[0037] In addition, the connecting component 3 is mainly responsible for connecting the robot and the floating rotating head, so that the robot can control the aerial position of the floating rotating head 4. The floating rotating head 4 itself has a certain radial floating and a certain flexibility. Through its own rotation, it drives the dust cleaning head 5 connected to the head to rotate at high speed to clean the dust on the surface of the coupler and the hook body.

[0038] Working principle and usage process:

[0039] First, according to the model of different workpieces, the corresponding cleaning program is selected in the electronic control system. Once the selection is completed, the electronic control system is started, the robot execution system is automatically started, and the robot begins to enter the dust removal work. The robot moves to the specified position according to the set program and controls the position of the floating rotating head 4. While the floating rotating head 4 rotates at high speed, it drives the dust cleaning head 5 for cleaning, and the accumulated dust is taken away by the dust cleaning head.

[0040] Next, the cleaned dust is covered in the dust removal room body 6 to prevent dust from being raised during the cleaning process, and the dust in the dust removal room body 6 is sucked away through the negative pressure dust removal pipe 8 connected to the dust removal room body 6 to keep the environment inside the dust removal room body 6 clean, and the dust sucked away from the dust removal room body 6 is collected in the dust collection box 7, and the dust collecting bucket inside the dust collection box 7 can be replaced regularly by manual operation.

[0041] In addition, after the cleaning process is completed, the electronic control system automatically detects the cleaning status and outputs a data report. The electronic control system also includes a detection, input and output system for real-time monitoring of the cleaning process, outputting relevant data, ensuring the normal operation of the system and avoiding malfunctions.

[0042] In addition, a surface dust robot automatic cleaning structure includes a robot execution system, a cleaning execution system, a dust removal system, and an electric control system.

[0043] The robot execution system includes a robot body, a robot mounting base and other components. The robot is installed upside down inside the dust removal system, and its head is connected to the cleaning execution system, which is the main execution component of the cleaning execution system.

[0044] The cleaning execution system includes a connecting component, a floating rotating head, a dust cleaning head and other components. The connecting component is mainly responsible for connecting the robot and the floating rotating head, so that the robot can control the aerial position of the floating rotating head. The floating rotating head itself has a certain radial floating and a certain flexibility. Through its own rotation, it drives the dust cleaning head connected to the head to rotate at a high speed to clean the dust on the surface of the coupler and the hook body.

[0045] The dust removal system includes a dust removal room module, a negative pressure dust removal module, and an ash collection module. The dust removal room module is mainly a dust removal room body, which covers all systems for surface cleaning to prevent dust from being raised during the cleaning process; the negative pressure dust removal module mainly sucks away the flying ash to keep the environment in the dust removal room clean; the ash collection module is mainly responsible for collecting the cleaned ash, and the internal ash collection bucket can be replaced manually and regularly.

[0046] The electronic control system mainly controls the automatic operation of the entire cleaning system. According to different types of workpieces, special cleaning programs are set, and the operator only needs to select the corresponding one. In addition, the electronic control system also includes detection, input and output systems, which are mainly responsible for monitoring the entire operation process and data output.

[0047] Embodiment 2:

[0048] Furthermore, the present invention provides a control method for a surface dust robot cleaning structure, which is characterized by: generating a robot control program for a target workpiece according to a preset workpiece model; generating a cleaning trajectory for the target workpiece according to the robot control program; and controlling the robot body to perform dust cleaning work through the cleaning trajectory.

[0049] It should be noted that the operator inputs the model information of the target workpiece into the robot control system. The model information usually includes the size and shape (such as a straight line or a curved surface) of the workpiece, the specific area to be cleaned (such as the hook body of the coupler), etc., and analyzes the specific characteristics of the target workpiece through the built-in data algorithm, such as whether the shape is regular (such as the round shape of the coupler, the long strip shape of the traction rod, etc.), whether the surface is flat, or there are large uneven parts (such as uneven thickness of dust accumulation), the distribution position and density of dust accumulation, and then generates the corresponding robot control program based on the analysis results to determine how the robot cleans the surface of the target workpiece. If the target workpiece is a curved coupler, the control program will calculate the path to be cleaned according to the specific geometric shape of the coupler.

[0050] Specifically, the robot generates a cleaning path plan based on the specific characteristics of the workpiece and the rules set in the control program, such as which paths the robot needs to move along, how to move (straight lines, curves, etc.), which areas need to be cleaned intensively, and which areas can be lightly cleaned. For some curved or irregularly shaped workpieces, the robot may need to move along a continuous curve to ensure comprehensive cleaning coverage. Once the cleaning trajectory of the target workpiece is generated, the robot can start to perform dust cleaning work. The control system will drive the robot body 2 to perform the cleaning task along the planned path according to the preset trajectory instructions. The robot starts to move according to the calculated trajectory, and the dust cleaning head 5 contacts the surface of the workpiece and starts cleaning. The rotation speed, cleaning method, etc. of the dust cleaning head 5 are precisely performed according to the settings of the control program.

[0051] Next, image data of the target workpiece after the dust cleaning work is performed is collected; the cleaning quality of the target workpiece is identified based on the image data; the cleaning trajectory is optimized based on the cleaning quality; the robot body is controlled to perform the dust cleaning work through the optimized cleaning trajectory, and returns to the step of collecting image data of the target workpiece after the dust cleaning work is performed, until the cleaning quality meets the preset quality standard.

[0052] It should be noted that after the cleaning work is completed, it is first necessary to evaluate the cleaning effect of the target workpiece. In order to obtain information on the cleaning effect, a visual sensor (such as a camera, laser scanner, etc.) is used to collect image data of the target workpiece. The image data contains the state of the surface of the target workpiece after cleaning, and can show whether the cleaning is complete, whether there are any missed areas, and the uniformity of the cleaning quality. The image data collected by the visual sensor can include high-resolution 2D or 3D images, which can accurately record the distribution of dust accumulation. Once the image data is collected, image processing and computer vision algorithms are used to analyze the data to identify the cleaning quality of the target workpiece.

[0053] Specifically, the collected images will be preprocessed, such as denoising, contrast enhancement, image segmentation, etc. Through these processes, the dusty areas on the workpiece surface and the areas after cleaning can be more clearly identified. By comparing the image data before and after cleaning, the areas that are not thoroughly cleaned or have accumulated dust can be identified. For example, by using edge detection or texture recognition technology, it can be determined whether there is residual dust. After obtaining the cleaning quality assessment results, the previous cleaning trajectory will be optimized based on this feedback information. If some areas fail to meet the predetermined cleaning standards (for example, dust in some locations is not completely cleaned or cleaned unevenly), the cleaning trajectory will be automatically adjusted to supplement or strengthen the cleaning of these areas.

[0054] Furthermore, according to the image data analysis results, the original cleaning path may be replanned. For example, if a certain area is heavily dusted, the cleaning force of the area may be increased or the robot's path may be adjusted so that the area can be more fully cleaned. For areas that are not fully cleaned, these areas will be prioritized for cleaning and optimized trajectories will be generated to ensure that these areas can be fully cleaned. After optimizing the cleaning trajectory, the control system will immediately update the trajectory executed by the robot and drive the robot to clean along the new trajectory. After the optimized cleaning trajectory is executed, image data will be collected again to evaluate the new cleaning effect, realizing a closed-loop feedback process. Through this cycle, the cleaning trajectory can be continuously adjusted until the preset cleaning quality standard is reached.

[0055] Then, when the cleaning quality meets the preset quality standard, a cleaning record is generated according to the cleaning trajectory corresponding to the cleaning quality; the cleaning record is stored in a preset database, and the cleaning record in the database is visualized to obtain a visualized cleaning record.

[0056] It should be noted that once the cleaning work is completed and the cleaning quality meets the preset standards, a cleaning record will be automatically generated. The cleaning record includes an overview of the cleaning work, recording the target workpiece for cleaning, the start time, end time and duration of cleaning, etc.; cleaning trajectory, cleaning quality indicators, etc. The generated cleaning record will be stored in the preset database for subsequent query, analysis and audit, and the cleaning records stored in the database will be visualized. Through the graphical interface, users can clearly view the execution status of the cleaning task. The cleaning trajectory contained in the cleaning record can be displayed in the form of a map or path map, showing the movement trajectory of the robot or equipment during the cleaning process. For example, the cleaning route can be drawn on a 2D or 3D plane, and the cleaning intensity, time and other information can be marked.

[0057] In addition, the present invention can effectively solve the problem of high labor intensity and high work consumption of workers, and the dust cleaning system has a special dust removal and sealing system, which can effectively prevent the problem of dust accumulation during cleaning. In addition, it is also equipped with preliminary visual inspection to monitor the cleaning quality of the coupler and the hook body surface, and has a special cleaning data record. After the operation, the data is automatically saved and uploaded, and workers do not need to make paper records. The data is saved in the database and the operator can query it at any time.

[0058] Embodiment 3:

[0059] Furthermore, the present invention provides a coupler body, characterized in that a detachable surface dust robot cleaning structure is provided on the surface of the coupler body.

[0060] See also Figure 1 , a structural schematic diagram of a surface dust collection robot cleaning structure, including a dust removal room body 6, the air outlet of the dust removal room body 6 is connected to a negative pressure dust removal pipe 8, the output port of the negative pressure dust removal pipe 8 is connected to a dust collection box 7, a robot base 1 is arranged at the top inner side of the dust removal room body 6, a robot body 2 is mounted on the robot base 1, and a floating rotating head 4 is connected to the head of the robot body 2 through a connecting component 3.

[0061] Next, see Figure 1 and Figure 2 , Figure 2 It is a structural schematic diagram of a dust removal structure, which includes a floating rotating head 4 and a dust cleaning head 5 coupled to the head of the floating rotating head 4 .

[0062] It should be noted that the dust removal room body 6 is a closed space, and the surface dust cleaning work is carried out in the dust removal room body 6, and all the dust cleaned on the surface is covered to prevent dust from being raised during the cleaning process. The dust in the dust removal room body 6 is discharged through the air outlet of the dust removal room body 6, and the air outlet of the dust removal room body 6 is connected to the input port of the negative pressure dust removal pipe 8, so that the dust inside the dust removal room body 6 is transported to the dust collection box 7, and the dust in the dust removal room body 6 is sucked into the dust collection box 7 through the strong negative pressure and transmitted to the dust collection box 7 through the pipeline.

[0063] In addition, the dust removal room 6 covers all systems for surface cleaning to prevent dust from being raised during the cleaning process; the negative pressure dust removal pipe 8 is mainly used to absorb the flying dust to keep the environment inside the dust removal room 6 clean; the dust collection box 7 is mainly responsible for collecting the cleaned dust, and the internal dust collection barrel can be replaced regularly by manual labor.

[0064] It is worth noting that a robot base 1 is arranged at the inner top of the dust removal room 6, and a robot body 2 is installed on the robot base 1, so that the robot body 2 is hung upside down in the dust removal room 6, and a floating rotating head 4 connected to the head of the robot body 2 through a connecting component 3, and a dust cleaning head 5 coupled to the head of the floating rotating head 4 are also arranged inside the dust removal room 6.

[0065] Next, the connecting component 3 is a stabilizing component, through which the head of the robot body 2 is stably connected to the floating rotating head 4, wherein the stabilizing component can be a bolt or a snap to ensure a fixed connection between the floating rotating head 4 and the robot body 2, thereby ensuring stability during long-term use, that is, a stable connection is formed with the head of the robot body 2 through the stabilizing component, and the stable connection ensures that the floating rotating head 4 will not be unnecessarily deviated or loosened from the head of the robot body 2 during rotation or adjustment, thereby maintaining the integrity of the overall structure of the robot.

[0066] It should be noted that the moving direction of the head of the robot body 2 is any direction, so that the telescopic arm in the robot body 2 controls the aerial position of the floating rotating head 4, wherein the head of the robot body 2 can rotate or move freely in three-dimensional space and can be adjusted in any direction without restriction, such as the robot head can move up and down, left and right, front and back, and even rotate 360 ​​degrees to adapt to different task requirements, and the aerial position and posture of the floating rotating head 4 can be controlled by the telescopic arm in the robot body 2. The telescopic arm in the robot body 2 can not only change the spatial position of the floating rotating head, but also control its angle or direction to adapt to different task requirements, that is, the head of the robot body 2 is not fixed in a certain direction, but can rotate freely and adjust the direction as needed. Through the control of the telescopic arm, the robot can accurately adjust the position and angle of the floating rotating head 4, thereby accurately determining the spatial coordinates of the robot head in the air.

[0067] It is worth noting that the floating rotating head 4 has its own rotation direction radial floating, so that when the floating rotating head 4 drives the dust cleaning head 5 to rotate, the dust cleaning head 5 can adjust the cleaning position in different directions, wherein radial floating means that the floating rotating head 4 rotates along a center point (or axis) instead of rotating along a fixed angle, that is, the rotation of the floating rotating head 4 is not restricted by a fixed direction and can be adjusted in any direction, thereby providing a more flexible cleaning solution, and the floating feature can help the floating rotating head 4 adapt to the irregular shapes of the surfaces of the coupler and the hook body, ensuring that the cleaning work can cover the entire surface, and if there are protrusions or depressions on the surface of the coupler or the hook body, the floating rotating head 4 can adjust its position according to actual conditions to ensure that the dust cleaning head 5 always maintains effective contact with the surface.

[0068] Next, the floating rotating head 4 is made of a flexible material, so that when the floating rotating head 4 drives the dust cleaning head 5 to rotate, the contact angle can be flexibly adjusted according to the pressure change on the surface of the object, that is, the flexible material usually has a certain elasticity or bendability. Compared with rigid materials, flexible materials can better adapt to the shape, curvature and surface changes of the surface of the object. Therefore, the use of flexible materials in the floating rotating head 4 can make it more flexible and adapt to different working environments and surface conditions. Flexible materials may be rubber, silicone, certain polymers, etc. These materials can be deformed when subjected to external forces (such as pressure), but will return to their original shape. Therefore, the use of flexible materials allows the floating rotating head 4 to more flexibly cope with irregular or complex surfaces. If the cleaning head encounters a concave surface, the flexible material enables the floating rotating head 4 to bend or deform appropriately and adjust the contact angle, so that the dust cleaning head 5 can better contact the concave area for deeper cleaning; similarly, if the surface is relatively smooth, the contact angle may remain relatively flat.

[0069] For example, the surface of the coupler body or the drawbar may have some depressions, curves or protrusions. The floating rotating head 4 acts as a driving device and utilizes the characteristics of the flexible material. When it contacts these irregularities, it will automatically adjust the contact angle of the dust cleaning head 5 according to the change in surface pressure, ensuring that the cleaning effect is not affected by the surface shape and avoiding damage caused by too rigid an angle. The flexible material can automatically adapt to different pressures, ensuring that the dust cleaning head 5 can accurately dock with different surfaces, whether it is the curved surface of the coupler body or the drawbar, and can be efficiently cleaned.

[0070] In addition, the connecting component 3 is mainly responsible for connecting the robot and the floating rotating head, so that the robot can control the aerial position of the floating rotating head 4. The floating rotating head 4 itself has a certain radial floating and a certain flexibility. Through its own rotation, it drives the dust cleaning head 5 connected to the head to rotate at high speed to clean the dust on the surface of the coupler and the hook body.

[0071] Working principle and usage process:

[0072] Firstly, a hook cleaning trajectory is generated according to the hook shape of the coupler, and the hook cleaning trajectory is executed by the surface dust robot cleaning structure. According to the models of different workpieces, the corresponding cleaning program is selected in the electronic control system. Once the selection is completed, the electronic control system is started, the robot execution system is automatically started, and the robot begins to enter the dust removal work. The robot moves to the designated position according to the set program and controls the position of the floating rotating head 4. While the floating rotating head 4 rotates at high speed, it drives the dust cleaning head 5 for cleaning, and the accumulated dust is taken away by the dust cleaning head.

[0073] Next, the cleaned dust is covered in the dust removal room body 6 to prevent dust from being raised during the cleaning process, and the dust in the dust removal room body 6 is sucked away through the negative pressure dust removal pipe 8 connected to the dust removal room body 6 to keep the environment inside the dust removal room body 6 clean, and the dust sucked away from the dust removal room body 6 is collected in the dust collection box 7, and the dust collecting bucket inside the dust collection box 7 can be replaced regularly by manual operation.

[0074] In addition, after the cleaning process is completed, the electronic control system automatically detects the cleaning status and outputs a data report. The electronic control system also includes a detection, input and output system for real-time monitoring of the cleaning process, outputting relevant data, ensuring the normal operation of the system and avoiding malfunctions.

[0075] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A surface dust cleaning robot structure, comprising: A dust removal room body, characterized in that the air outlet of the dust removal room body is connected to a negative pressure dust removal pipe, the output port of the negative pressure dust removal pipe is connected to a dust collection box, a robot base is arranged at the inner top end of the dust removal room body, a robot body is mounted on the robot base, a floating rotating head is connected to the head of the robot body through a connecting component, a dust cleaning head is coupled to the head of the floating rotating head, the rotation position of the floating rotating head is controlled by the robot body, and the floating rotating head drives the dust cleaning head to rotate through the rotation position, and the surface dust cleaned during the rotation of the dust cleaning head is covered in the dust removal room body, and the surface dust in the dust removal room body is sucked into the dust collection box through the negative pressure dust removal pipe to realize the cleaning of the surface dust.

2. The surface dust cleaning robot structure according to claim 1 is characterized in that: The connecting component includes a bolt or a buckle, through which the head of the robot body is stably connected to the floating rotating head.

3. The surface dust cleaning robot structure according to claim 1, characterized in that: The moving direction of the head of the robot body is any direction, so that the telescopic arm in the robot body controls the aerial position of the floating rotating head.

4. The surface dust cleaning robot structure according to claim 1, characterized in that: The floating rotating head has a radial floating rotation direction, so that when the floating rotating head drives the dust cleaning head to rotate, the dust cleaning head can adjust the cleaning position in different directions.

5. The surface dust cleaning robot structure according to claim 4, characterized in that: The floating rotating head is made of a flexible material, so that when the floating rotating head drives the dust cleaning head to rotate, the contact angle can be flexibly adjusted according to the pressure change on the surface of the object.

6. A control method for a surface dust cleaning robot structure, characterized in that: A robot control program for a target workpiece is generated according to a preset workpiece model; a cleaning trajectory for the target workpiece is generated according to the robot control program; and a robot body is controlled to perform dust cleaning work through the cleaning trajectory.

7. The control method of the surface dust robot cleaning structure according to claim 6, characterized in that: Collect image data of the target workpiece after the dust cleaning work is performed; identify the cleaning quality of the target workpiece according to the image data; optimize the cleaning trajectory according to the cleaning quality; control the robot body to perform the dust cleaning work through the optimized cleaning trajectory, and return to the step of collecting image data of the target workpiece after the dust cleaning work is performed, until the cleaning quality meets the preset quality standard.

8. The control method of the surface dust robot cleaning structure according to claim 7, characterized in that: When the cleaning quality meets the preset quality standard, a cleaning record is generated according to the cleaning trajectory corresponding to the cleaning quality; the cleaning record is stored in a preset database, and the cleaning record in the database is visualized to obtain a visualized cleaning record.

9. A coupler body, characterized in that: The surface of the coupler body is provided with a detachable surface dust robot cleaning structure as described in any one of 1-5.

10. The coupler body according to claim 9, characterized in that: A hook body cleaning trajectory is generated according to the hook body shape of the coupler hook body, and the hook body cleaning trajectory is executed by the surface dust accumulation robot cleaning structure.

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