Cleaning and spraying robot system

Abstract

The invention relates to the field of robots, and particularly discloses a cleaning and spraying robot system which comprises a high-pressure water pump assembly, a spraying assembly and a walking device, and the walking device comprises a first vehicle frame, a second vehicle frame, a first wheel carrier, a second wheel carrier, a first driving wheel, a second driving wheel, a crawler belt, a rotating arm, a first spraying head, a second spraying head, a third spraying head and a hanging assembly; the first frame and the second frame are rotatably connected, the first wheel carrier and the second wheel carrier are rotatably installed on the two sides of the first frame and the two sides of the second frame, and when turning or turning around is carried out, the whole vehicle body can be in a slight torsion state, so that a crawler belt is completely attached to a curved surface; the high-pressure water pump assembly sprays high-pressure water flow through the first spray head to remove impurities, the spraying assembly is connected with the second spray head and the third spray head to spray a release agent, large-range operation and local operation can be carried out, the machine body is thin and flexible in action, and safe and efficient maintenance operation can be carried out in a narrow space instead of manual work.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and particularly relates to a cleaning and spraying robot system. Background Art

[0002] A tunnel lining jumbo is a special equipment that must be used in the secondary lining during the tunnel construction process for the concrete lining construction of the tunnel inner wall. During the operation of the tunnel lining jumbo, formwork erection, pouring, and stripping are constantly required, and this process is always carried out in the narrow space of the tunnel. After each stripping of the formwork, it is necessary to clean and remove scale from the surface of the curved surface structure of the formwork and spray a release agent for maintenance. However, this maintenance process is usually carried out manually, which not only has low efficiency but also poses a great safety hazard.

[0003] The patent document with the application number "CN2020223175783" discloses a cleaning and demoulding agent coating device for a secondary lining stripping jumbo. Arc-shaped slide rails are arranged at both ends of the jumbo. A traveling trolley is arranged at the upper end of the arc-shaped slide rail. A driving mechanism for controlling its movement is arranged at one end of the traveling trolley. A brush rod, a coating rod, and a cleaning rod are successively arranged from top to bottom between the two traveling trolleys. The brush rod, the coating rod, and the cleaning rod are always in contact with the outer surface of the jumbo formwork during the movement process. The inside of the coating rod is a hollow structure, and small holes are evenly arranged on the outer side surface of the coating rod along its length direction for coating the release agent on the outer surface of the jumbo formwork through the small holes. The outer side surface of the brush rod is covered with cotton cloth. Although the device in this comparative document can replace manual labor to clean the outer surface of the jumbo formwork and apply the release agent, it is a special-purpose device and cannot be used universally among different jumbos, and its flexibility in use is poor; moreover, the middle part of the structural member is poorly stressed, and it cannot achieve effective cleaning, nor can it monitor the situation after cleaning, which is likely to cause incomplete cleaning and spraying.

[0004] The patent document with the application number "CN2024209472261" discloses a simple robot for rust removal on the curved surface of a ship hull with a magnetic adsorption track, and the patent document with the application number "CN2018205970402" discloses a tracked wall-climbing robot that can adapt to multiple curved surfaces. The crawler robots in the above two comparative documents both have a certain degree of passability on curved surfaces and are equipped with a magnetic adsorption function, which can be used for spraying and cleaning. However, the angle between the axles of the front and rear wheels of the crawler structure of the robots in the two comparative documents is fixed. When the robot turns or makes a U-turn on a curved surface, one end will tilt up, resulting in a decrease in the degree of fit with the curved surface. When the tangent of the curved surface forms an acute angle with the horizontal plane, it is prone to separate the crawler from the crawling surface under the influence of gravity, posing a risk of falling; moreover, the pipeline is prone to interference with the crawler during walking and is involved in the crawler, affecting the operation.

[0005] The disclosure of the above background art content is only for assisting in understanding the inventive concept and technical solution of the present invention, and it does not necessarily belong to the prior art of this patent application. Without clear evidence indicating that the above content was publicly available on the filing date of this patent application, the above background art should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0006] The object of the present invention is to provide a cleaning and spraying robot system, so as to overcome the defect that when the existing walking robot cleans and sprays the curved surface of the trolley template in a narrow space, the adhesion between the crawler and the template curved surface is poor during walking and turning, and it is easy to separate and fall.

[0007] To achieve the above object, the present invention provides a cleaning and spraying robot system, including a walking device, a high-pressure water pump assembly, and a spraying assembly; the walking device includes a first vehicle frame and a second vehicle frame. On both sides of the first vehicle frame, rotatable first wheel frames are respectively provided. On the first wheel frames, a first driving motor and a first driving wheel are provided. On both sides of the second vehicle frame, rotatable second wheel frames are respectively provided. On the second wheel frames, a second driving motor and a second driving wheel are provided. A crawler is installed between the first driving wheel and the second driving wheel. Removable magnetic blocks are provided on the outer side of the crawler; the rotation axes of the first wheel frames and the second wheel frames are consistent with the traveling direction of the crawler; one end of the first vehicle frame is rotatably connected to one end of the second vehicle frame, and the rotation axis is parallel to the rotation axes of the first wheel frames and the second wheel frames; the first vehicle frame is provided with a controller, a rotating arm, and a third driving motor. The driving end of the third driving motor is fixedly connected to one end of the rotating arm. The other end of the rotating arm extends outward from the other end of the first vehicle frame and can swing between both sides of the walking device. The other end of the rotating arm is provided with a first nozzle and a second nozzle. Third nozzles are provided on both sides of the walking device. The first nozzle is connected to the high-pressure water pump assembly through a first pipeline. The second nozzle and the third nozzles are connected to the spraying assembly through a second pipeline.

[0008] Preferably, in the above technical solution, a suspension assembly is provided between the first driving wheel and the second driving wheel. The suspension assembly includes a plurality of elastic arms. One end of the elastic arm is rotatably connected to the first vehicle frame. The other end of the elastic arm is slidably connected to the inner side of the crawler and can lift the lower belt surface of the crawler upward, so that the lower belt surface of the crawler forms a concave arc structure.

[0009] Preferably, in the above technical solution, the other end of the elastic arm is provided with a rotatable clamping seat. A clamping groove is opened below the clamping seat. The clamping groove penetrates through both ends of the clamping seat. A ridge is provided on the inner side of the crawler. The ridge can be stuck in the clamping groove and slide along the clamping groove.

[0010] Preferably, in the above technical solution, a protective box is provided below the first vehicle frame, the bottom of the protective box is higher than the lower belt surface of the crawler, and the controller is installed in the protective box; a rotating shaft is provided at one end of the first vehicle frame, a shaft seat is provided at the bottom of the second vehicle frame, the rotating shaft is rotatably installed in the shaft seat, and a support wheel is further provided below the second vehicle frame. The number of the support wheels is more than two and they are symmetrically arranged with the shaft seat as the center, and the wheel edge of the support wheel abuts against the outer side of the protective box.

[0011] Preferably, in the above technical solution, a solenoid valve is provided at the bottom of the second vehicle frame, a right-angle pipe joint is provided at the top of the second vehicle frame, the first pipeline is connected to the pipe joint, and the second pipeline is connected to the solenoid valve.

[0012] Preferably, in the above technical solution, a first support arm is provided on the outer side of the first wheel frame, and a first pipe clamp and the third nozzle are installed at the end of the first support arm extending outward; a second support arm is provided on the outer side of the second wheel frame, and the end of the second support arm extends upward and a second pipe clamp is installed. Two third pipe clamps are installed on the top of the second vehicle body and are located on both sides of the right-angle pipe joint; the first pipeline and the second pipeline can be clamped by the first pipe clamp, the second pipe clamp and the third pipe clamp at the same time and can slide in the first pipe clamp, the second pipe clamp and the third pipe clamp.

[0013] Preferably, in the above technical solution, a pipe groove is formed along the swing arm, a buckle plate is provided on the pipe groove, and the first pipeline and the second pipeline are arranged in the pipe groove.

[0014] Preferably, in the above technical solution, a protective cover is provided at the bottom of the other end of the swing arm, and the protective cover encloses the first nozzle and the second nozzle; a brush is provided at the bottom of the protective cover.

[0015] Preferably, in the above technical solution, a camera, a lighting lamp and a position sensor are respectively provided at both ends of the traveling device, and the position sensor is arranged close to both sides of the traveling device.

[0016] Preferably, in the above technical solution, a rope rack is provided at the other end of the second vehicle frame, and the rope rack is used for fixing a safety rope; a handle rack is provided at the top of the first vehicle frame, and the end of the handle rack extends above the crawler.

[0017] Compared with the existing technology, the present invention has the following beneficial effects:

[0018] 1. The cleaning and spraying robot system in the present invention can be adsorbed on the outer side of the trolley formwork through the traveling device. The first frame and the second frame are rotatably connected, and the first wheel frame and the second wheel frame are also rotatably installed on both sides of the first frame and the second frame. When turning or making a U-turn on a curved surface, the whole body can be in a slightly twisted state so that the crawler belt can be fully attached to the curved surface, and the first nozzle connected to the high-pressure water pump assembly can be carried by the swing arm for impurity removal, and the second nozzle connected to the spraying assembly can be used for demoulding agent spraying. It can not only perform large-scale operations but also local operations. The fuselage is thin and flexible, and can completely replace manual labor to perform safe and efficient maintenance operations in a narrow space.

[0019] 2. The suspension assembly in the present invention is provided with a clamping seat with a clamping groove, and a ridge matching the clamping groove is arranged on the inner side of the crawler belt. The suspension assembly can not only provide a certain elastic supporting force for the lower belt surface of the crawler belt but also lift the lower belt surface of the crawler belt upward, so as to form a concave arc structure, enabling it to completely cover the outer side of the formwork when walking on the outer side of the formwork, thereby further improving the fitting degree. When the tangent of the curved surface forms an acute angle with the horizontal plane, even if the body is affected by gravity, the belt wheels at both ends of the crawler belt will not easily separate from the crawling surface, having higher safety.

[0020] 3. The controller in the present invention is installed in the protective box, which can play a protective role. And a supporting wheel is arranged on the second frame, and the supporting wheel is in rolling contact with the outer side of the protective box. This supporting wheel can not only keep the rotation planes of the first frame and the second frame parallel when the first frame and the second frame rotate relative to each other, protect the rotating shaft and the shaft seat from torsion during rotation, and make the rotation posture more stable, but also absorb the axial pressure when the crawler belt is tensioned, playing a protective role for the rotating shaft, bearing and shaft cover.

[0021] 4. The periphery of the traveling device in the present invention is provided with a first pipe clamp and a second pipe clamp to clamp the first pipeline and the second pipeline, so that the pipeline and the circuit can be arranged around the periphery of the traveling device and have a certain gap. When the vehicle body of the traveling device generates torsion, a certain movement gap can be allowed between the pipeline and the pipe clamp, which neither affects the movement posture nor pulls the pipeline, and can avoid the position of the crawler belt to avoid interference.

[0022] 5. The periphery of the traveling device in the present invention is provided with a camera, a lighting lamp and a position sensor, which can remotely observe the operation situation and automatically identify the operation boundary, having good visibility and active safety protection, making the operation more convenient; a rope rack for fixing the safety rope is also arranged on the second frame, which can further play a safety protection role during the operation.

[0023] 6. The drive wheels at both ends of the crawler in the present invention are driven by independent drive motors, which endows it with high power performance and enables uniform distribution of power in both the front and rear directions. When moving backward or passing through obstacles, it has strong passability and power output. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of the traveling device in the present invention.

[0025] Figure 2 It is a structural diagram of the traveling device from the perspective below.

[0026] Figure 3 It is a structural diagram of the first vehicle frame.

[0027] Figure 4 It is a structural diagram of the second vehicle frame.

[0028] Figure 5 It is a structural diagram of the first wheel frame.

[0029] Figure 6 It is a structural diagram of the crawler.

[0030] Figure 7 It is a structural diagram of the suspension assembly.

[0031] Figure 8 It is a structural diagram of the swing arm.

[0032] Figure 9 It is a structural diagram of the high-pressure water pump assembly.

[0033] Figure 10 It is a structural diagram of the spraying assembly.

[0034] MAIN REFERENCE NUMERAL DESCRIPTION:

[0035] 100 - Traveling device, 110 - Protection box, 120 - Camera, 130 - Lighting lamp, 140 - Position sensor, 150 - Rope rack, 160 - Handle rack;

[0036] 200 - High-pressure water pump assembly;

[0037] 300 - Spraying assembly;

[0038] 400 - First vehicle frame, 410 - First wheel frame, 420 - First drive motor, 430 - First drive wheel, 440 - Rotating shaft, 450 - First support arm, 460 - First pipe clamp, 470 - Limit pin, 480 - Limit groove;

[0039] 500 - Second vehicle frame, 510 - Second wheel frame, 520 - Second drive motor, 530 - Second drive wheel, 540 - Axle seat, 550 - Second support arm, 560 - Second pipe clamp, 570 - Third pipe clamp, 580 - Support wheel;

[0040] 600 - Crawler belt, 610 - Magnetic attraction block, 620 - Rubber block, 630 - Ridge;

[0041] 700 - Swing arm, 701 - Pipe groove, 702 - Buckle plate, 710 - Third drive motor, 720 - First spray head, 730 - Second spray head, 740 - Third spray head, 750 - First pipeline, 760 - Second pipeline, 770 - Solenoid valve, 780 - Right-angle pipe joint, 790 - Protective cover, 791 - Brush;

[0042] 800 - Suspension assembly, 810 - Elastic arm, 820 - Spring, 830 - Clamping seat, 831 - Card slot. Detailed implementation manner

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "top part", "bottom part", "top surface", "bottom surface", "inner", "outer", "inner side", "outer side", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0045] In the description of the present invention, the meaning of "several" is one or more, the meaning of "multiple" is two or more, "greater than", "less than", "exceeding", etc. are understood as not including the number itself, and "above", "below", "within", etc. are understood as including the number itself. If there is a description of the terms "first", "second", "third", etc., it is only for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0046] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "linkage", and "setting" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The embodiments of the present invention will be described below according to its overall structure.

[0047] As Figures 1 to 10 shown, the cleaning and spraying robot system in this embodiment includes: a traveling device 100, a protective box 110, a camera 120, a lighting lamp 130, a position sensor 140, a rope rack 150, a handle rack 160, a high-pressure water pump assembly 200, a spraying assembly 300, a first vehicle frame 400, a first wheel frame 410, a first driving motor 420, a first driving wheel 430, a rotating shaft 440, a first support arm 450, a first pipe clamp 460, a second vehicle frame 500, a second wheel frame 510, a second driving motor 520, a second driving wheel 530, a shaft seat 540, a second support arm 550, a second pipe clamp 560, a third pipe clamp 570, a support wheel 580, a crawler 600, a magnetic attraction block 610, a rubber block 620, a ridge 630, a rotating arm 700, a pipe groove 701, a buckle plate 702, a third driving motor 710, a first spray head 720, a second spray head 730, a third spray head 740, a first pipeline 750, a second pipeline 760, a solenoid valve 770, a right-angle pipe joint 780, a protective cover 790, a brush 791, a suspension assembly 800, an elastic arm 810, a spring 820, a clamping seat 830, and a clamping groove 831.

[0048] Among them, the main frame of the traveling device 100 is composed of a first vehicle frame 400 and a second vehicle frame 500. A rotating shaft 440 extending outward is fixedly arranged at one end of the first vehicle frame 400. A shaft seat 540 is installed at the bottom of the second vehicle frame 500. The rotating shaft 440 is rotatably installed in the shaft seat 540. A bearing is installed between the rotating shaft 440 and the shaft seat 540. An end cover is installed at the end of the shaft seat 540 for limiting. A support wheel 580 is also installed below the second vehicle frame 500. The support wheel 580 is arranged towards the first vehicle frame 400 and there are four of them. The four support wheels 580 are symmetrically arranged with the shaft seat 540 as the center. A protective box 110 is installed below the first vehicle frame 400. The wheel edge of the support wheel 580 abuts against the outer side surface of the protective box 110 opposite to the shaft seat 540. This outer side surface is perpendicular to the rotating shaft 440. A controller and a connector are installed in the protective box. A third driving motor 710 is installed at the bottom of the first vehicle frame 400. The rotating shaft of the driving end of the third driving motor 710 is vertically upward and fixedly connected to one end of a first swing arm 700. The other end of the swing arm 700 extends outward from the other end of the first vehicle frame 400 and can swing between the two sides of the traveling device 100 to form a fan-shaped sweeping area. A first spray head 720 and a second spray head 730 are installed at the other end of the swing arm 700. The spray holes of the first spray head 720 are linear spray holes and their extension lines pass through the rotation center of the swing arm 700. The spraying angle of the second spray head 730 is adjustable. A protective cover 790 is installed at the bottom of the other end of the swing arm 700. The protective cover 790 encloses the first spray head 720 and the second spray head 730. The area of the bottom of the protective cover 790 gradually expands and a brush 791 is also installed. The first spray head 720 is connected to the high-pressure water pump assembly 200 through a first pipeline 750 for high-pressure cleaning of the template surface. The second spray head 730 is connected to the spraying assembly 300 through a second pipeline 760 for spraying a release agent on the template surface. A pipe groove 701 is opened along the top of the swing arm 700. A detachable buckle plate 702 is installed on the pipe groove 701. The first pipeline 750 and the second pipeline 760 are arranged in the pipe groove 701.

[0049] On both sides of the first vehicle frame 400, a rotatable first wheel frame 410 is respectively installed. On both sides of the second vehicle frame 500, a rotatable second wheel frame 510 is respectively installed. Both the first wheel frame 410 and the second wheel frame 510 are rectangular frame structures, and the axis line of the rotation axis 440 of the two is parallel; inside the two first wheel frames 410, first driving wheels 430 are respectively installed. The axis line of the rotation axis 440 of the first driving wheel 430 is perpendicular to the axis line of the rotation axis 440 of the first wheel frame 410. On the opposite sides of the two first wheel frames 410, a first driving motor 420 is respectively installed. The output ends of the two first driving motors 420 are coaxially connected to the corresponding first driving wheels 430; inside the two second wheel frames 510, second driving wheels 530 are respectively installed. The axis line of the rotation axis 440 of the second driving wheel 530 is perpendicular to the axis line of the rotation axis 440 of the second wheel frame 510. On the opposite sides of the two second wheel frames 510, a second driving motor 520 is respectively installed. The output ends of the two second driving motors 520 are coaxially connected to the corresponding second driving wheels 530; a crawler 600 is installed between the first driving wheel 430 and the second driving wheel 530 on the same side. The bottom of the protective box 110 is higher than the lower belt surface of the crawler 600. A detachable magnetic attraction block 610 is installed on the outer side of each belt plate of the crawler 600. On both sides of the magnetic attraction block 610, a rubber block 620 is respectively installed. The height of the rubber block 620 is slightly higher than the height of the magnetic attraction block 610 to increase the friction force after the crawler 600 adsorbs to the working surface. The material of the magnetic attraction block 610 is neodymium magnet. There is a certain gap between the links of the crawler 600 to allow the belt surface of the crawler 600 to form a certain spiral structure when a certain angle is formed between the axis line of the first driving wheel 430 and the axis line of the second driving wheel 530. Limit pins 470 are provided on the first wheel frame 410 and the second wheel frame 510. Arc-shaped limit grooves 480 matching the limit pins 470 are respectively opened on the first vehicle frame 400 and the second vehicle frame 500 to prevent the angle between the axis line of the first driving wheel 430 and the axis line of the second driving wheel 530 from being too large and prevent the crawler 600 from being damaged; the rotation amount of the first wheel frame 410 and the second wheel frame 510 and the gap amount between the links of the crawler 600 can be designed and selected according to the actual use situation, which will not be elaborated here.

[0050] A solenoid valve 770 is provided at the bottom of the second vehicle frame 500, and a right-angle pipe joint 780 is provided at the top of the second vehicle frame 500. The first pipeline 750 is connected to the pipe joint, and the second pipeline 760 is connected to the solenoid valve 770. A first support arm 450 is installed outside the first wheel frame 410. At the end of the first support arm 450, it extends outwardly from the first wheel frame 410 and a first pipe clamp 460 and a third spray head 740 are installed. The spraying angle of the third spray head 740 is adjustable and it is also connected to the spraying assembly 300 through the second pipeline 760, and can spray the release agent to the side of the traveling device 100; A second support arm 550 is installed outside the second wheel frame 510. The end of the second support arm 550 extends upward and a second pipe clamp 560 is installed. Two third pipe clamps 570 are installed at the top of the second vehicle body and are located on both sides of the right-angle pipe joint 780. The clamping grooves of the second pipe clamp 560 and the third pipe clamp 570 are in the same direction and are perpendicular to the crawler belt 600. The clamping groove of the first pipe clamp 460 is parallel to the crawler belt 600; The first pipeline 750 and the second pipeline 760 can be clamped by the first pipe clamp 460, the second pipe clamp 560 and the third pipe clamp 570 at the same time and can slide in the clamping grooves of the first pipe clamp 460, the second pipe clamp 560 and the third pipe clamp 570.

[0051] In addition, suspension assemblies 800 are respectively installed on both sides of the first vehicle frame 400. The suspension assemblies 800 are located between the first drive wheel 430 and the second drive wheel 530. The suspension assemblies 800 are composed of elastic arms 810. One end of the elastic arm 810 is rotatably connected to the first vehicle frame 400. A spring 820 is connected between the other end of the elastic arm 810 and the first vehicle frame 400 and a rotatable clamping seat 830 is installed. A clamping groove 831 is provided below the clamping seat 830, and the clamping groove 831 penetrates through both ends of the clamping seat 830. A ridge 630 is provided on the inner side of the belt plate of the crawler belt 600. The cross-sections of the ridge 630 and the clamping groove 831 are both T-shaped structures. The ridge 630 can be stuck in the clamping groove 831 and slide along the clamping groove 831.

[0052] More specifically, the number of the elastic arms 810 is more than four, and the elastic arms 810 are symmetrically arranged with the midline between the first drive wheel 430 and the second drive wheel 530 as the center. The swing lengths of the elastic arms 810 gradually increase from the center position to the two end positions, so as to be able to lift the lower belt surface of the crawler belt 600 upward and make the lower belt surface of the crawler belt 600 form a concave arc structure, so as to form a better fit with the convex curved surface of the template.

[0053] In addition, a camera 120, two lighting lamps 130 and two position sensors 140 are respectively installed at both ends of the traveling device 100. The two position sensors 140 are respectively arranged close to both sides of the traveling device 100; a rope rack 150 is installed at the other end of the second vehicle frame 500, and the rope rack 150 is used for installing and fixing a safety rope; two handle racks 160 are fixedly installed on the top of the first vehicle frame 400, and the end parts of the two handle racks 160 respectively extend above the crawler belt 600. It can not only play the role of lifting and carrying the mobile traveling device 100, but also protect the area above the crawler belt 600.

[0054] Next, the usage method and working principle of a cleaning and spraying robot system in this embodiment will be described in detail to enable those skilled in the art to better understand the present invention:

[0055] This cleaning and spraying robot system is mainly applied to cleaning the outer surface of the formwork and spraying the release agent in place at the operation position every time after demoulding when the lining trolley operates in the tunnel. When in use, the high-pressure water pump assembly 200 and the spraying assembly 300 are placed in the lining trolley. The first pipeline 750, the second pipeline 760, the power line and the communication line pass through the operation hole and are connected to the traveling device 100. Water is filled in the high-pressure water pump assembly 200, and the release agent is filled in the spraying assembly 300. A safety rope is fixed above the formwork, and the end of the safety rope is tied to the rope rack 150. Images are transmitted to the control end through the camera 120 and the lighting lamp 130. The swing of the swing arm 700 on the left and right sides of the traveling device 100 drives the first nozzle 720 to spray a fan-shaped cleaning area of high-pressure water flow in a linear shape, so as to clean the residues and foreign matters on the outer surface of the formwork; after cleaning, the swing arm 700 drives the second nozzle 730 to spray the release agent on the formwork surface in the end area of the traveling device 100, and at the same time, the third nozzles 740 located on both sides of the traveling device 100 can spray the release agent on the formwork surface in the side area of the traveling device 100, so as to form a larger spraying area and ensure the spraying efficiency during the spraying of the release agent.

[0056] Since the surface of the template is a convex curved surface structure, when the traveling device 100 crawls along the arc direction, due to the engagement and slidability between the clamping seat 830 at the end of the elastic arm 810 in the suspension assembly 800 and the ridge 630 on the back side of the crawler belt 600, the lower belt surface of the crawler belt 600 is lifted upward to form a concave arc structure, which fits perfectly with the outer side surface of the template; when the traveling device 100 crawls along the arc direction perpendicular to the template, the first wheel frame 410 and the second wheel frame 510 can automatically deflect inward according to the curvature of the arc surface, so as to achieve a high degree of fit; when the traveling device 100 makes a turning or U-turn movement on the outer side surface of the template, adaptive rotation can occur between the four wheel frames and between the first vehicle frame 400 and the second vehicle frame 500, so that the crawler belt 600 has a better fit with the curved surface. When encountering slight protrusion-like dirt obstacles on the curved surface, the crawler belt 600 can also have better passability. When the traveling device 100 travels to an angle where the tangent of the curved surface forms an acute angle with the horizontal direction, since the lower belt surface of the crawler belt 600 always maintains a concave arc structure, the movement tendency of the first drive wheel 430 and the second drive wheel 530 to lift off the curved surface can also be eliminated, and the separation and fall of the crawler belt 600 and the curved surface can be better prevented.

[0057] In summary, the cleaning and spraying robot system in the present invention can be adsorbed on the outer side of the trolley template through the traveling device 100. The first vehicle frame 400 and the second vehicle frame 500 are rotatably connected, and the first wheel frame 410 and the second wheel frame 510 are also installed on both sides of the first vehicle frame 400 and the second vehicle frame 500 in a rotatable manner. When making a turn or U-turn on the curved surface, the whole body of the vehicle can be in a slightly twisted state so that the crawler belt 600 fits perfectly with the curved surface, and the first spray head 720 connected to the high-pressure water pump assembly 200 can be carried by the swing arm 700 to remove impurities, and the second spray head 730 connected to the spraying assembly 300 can spray the release agent. It can not only perform large-scale operations but also perform local operations. The fuselage is thin and the movement is flexible, and it can completely replace manual labor to perform safe and efficient maintenance operations in a narrow space.

[0058] The foregoing description of specific exemplary embodiments of the present invention is for purposes of illustration and exemplification. These descriptions are not intended to limit the invention to the precise forms disclosed, and obviously, many changes and variations are possible in light of the above teachings. Although embodiments of the present invention have been shown and described, the specific embodiments are merely interpretations of the present invention and not limitations thereof. The specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical applications, so that those skilled in the art can, after reading this specification, make modifications, substitutions, variations, and various different selections and changes that do not make a creative contribution to the embodiments as needed, but as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A cleaning and spraying robot system, comprising a walking device, a high-pressure water pump assembly and a spraying assembly; characterized in that: The walking device comprises a first frame and a second frame, wherein a rotatable first wheel frame is respectively provided on both sides of the first frame, a first driving motor and a first driving wheel are provided on the first wheel frame, and a rotatable second wheel frame is respectively provided on both sides of the second frame, a second driving motor and a second driving wheel are provided on the second wheel frame, a crawler track is installed between the first driving wheel and the second driving wheel, and a detachable magnetic block is provided on the outer side of the crawler track; the rotation axis of the first wheel frame and the rotation axis of the second wheel frame are consistent with the travel direction of the crawler track; one end of the first frame is rotatably connected to one end of the second frame, and the rotation axis is parallel to the rotation axis of the first wheel frame and the rotation axis of the second wheel frame; The first frame is provided with a controller, a rotating arm and a third drive motor, the driving end of the third drive motor is fixedly connected to one end of the rotating arm, the other end of the rotating arm extends outward from the other end of the first frame and can swing between the two sides of the traveling device, the other end of the rotating arm is provided with a first nozzle and a second nozzle, and the two sides of the traveling device are provided with a third nozzle, the first nozzle is connected to the high-pressure water pump assembly through a first pipeline, and the second nozzle and the third nozzle are connected to the spraying assembly through a second pipeline.

2. The cleaning and spraying robot system according to claim 1, characterized in that: A suspension assembly is provided between the first driving wheel and the second driving wheel, and the suspension assembly includes a plurality of elastic arms, one end of the elastic arm is rotatably connected to the first frame, and the other end of the elastic arm is slidably connected to the inner side of the track and can lift the lower belt surface of the track upward, so that the lower belt surface of the track forms a concave arc structure.

3. The cleaning and spraying robot system according to claim 2, characterized in that: A rotatable card seat is provided at the other end of the elastic arm, a card slot is provided below the card seat, the card slot passes through the two ends of the card seat, and a ridge is provided on the inner side of the track, and the ridge can be stuck in the card slot and slide along the card slot.

4. The cleaning and spraying robot system according to claim 1, characterized in that: A protective box is provided below the first frame, the bottom of the protective box is higher than the lower belt surface of the crawler, and the controller is installed in the protective box; a rotating shaft is provided at one end of the first frame, and an axle seat is provided at the bottom of the second frame, and the rotating shaft is rotatably installed in the axle seat, and support wheels are also provided below the second frame, the number of the support wheels is more than two and they are symmetrically arranged with the axle seat as the center, and the wheel edges of the support wheels abut against the outer sides of the protective box.

5. The cleaning and spraying robot system according to claim 1, characterized in that: A solenoid valve is provided at the bottom of the second frame, a right-angle pipe joint is provided at the top of the second frame, the first pipeline is connected to the pipe joint, and the second pipeline is connected to the solenoid valve.

6. The cleaning and spraying robot system according to claim 5, characterized in that: A first support arm is provided on the outer side of the first wheel frame, and a first pipe clamp and the third nozzle are installed at the end of the first support arm extending outward; a second support arm is provided on the outer side of the second wheel frame, and a second pipe clamp is installed at the end of the second support arm extending upward, and a third pipe clamp is installed on the top of the second vehicle body, and the number of the third pipe clamps is two and they are located on both sides of the right-angle pipe joint; The first pipe and the second pipe can be clamped by the first pipe clamp, the second pipe clamp and the third pipe clamp at the same time and can slide in the first pipe clamp, the second pipe clamp and the third pipe clamp.

7. The cleaning and spraying robot system according to claim 1, characterized in that: A pipe groove is opened along the rotating arm, a gusset plate is arranged on the pipe groove, and the first pipeline and the second pipeline are arranged in the pipe groove.

8. The cleaning and spraying robot system according to claim 1, characterized in that: A protective cover is arranged at the bottom of the other end of the rotating arm, and the protective cover encloses the first nozzle and the second nozzle; a scrub brush is arranged at the bottom of the protective cover.

9. The cleaning and spraying robot system according to claim 1, characterized in that: Cameras, lighting lamps and position sensors are respectively arranged at two ends of the walking device, and the position sensors are arranged close to the two sides of the walking device.

10. The cleaning and spraying robot system according to claim 1, characterized in that: A rope rack is provided at the other end of the second frame, and the rope rack is used to fix a safety rope; a handle rack is provided at the top of the first frame, and the end of the handle rack extends above the crawler track.

Images