Cleaning robot adsorbed on surface of automobile and use method of cleaning robot

Abstract

The invention discloses a cleaning robot adsorbed on the surface of an automobile and a using method of the cleaning robot, and relates to the technical field of robots, the cleaning robot comprises two cleaning robots, the two cleaning robots comprise the first adsorption robot and the second adsorption robot which are arranged on the two sides correspondingly, and the first adsorption robot is provided with a first cleaning disc used for cleaning the surface of the automobile; a first cleaning disc for cleaning the surface of the automobile is arranged on the second adsorption robot; the first adsorption robot and the second adsorption robot are connected through a connecting extension mechanism, and the extension mechanism comprises a first extension arm connected with the output end of a first extension motor, a second extension arm connected with the output end of a second extension motor and a third extension motor connected with the first extension arm and the second extension arm; the cleaning robot is provided with a first rotating assembly, a driving extension mechanism, an adsorption assembly and a visual recognition assembly. The mobile operation can be carried out on the automobile surface, metal and nonmetal, a plane, a curved surface, a concave-convex surface and various complex surfaces.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly relates to a cleaning robot adsorbed on the surface of an automobile and a using method thereof. Background Art

[0002] Currently, in the car wash industry, the commonly used automatic car wash machines for cleaning the surface of an automobile are very large in volume. Correspondingly, the automatic car wash machines occupy a large area, consume a large amount of water and electricity, and have high energy consumption.

[0003] With the rapid development of technology, robot technology has become a research hotspot in the world today. Among many types of robots, adsorption robots have gradually emerged with their unique principles and structural advantages and become a key role in the future industrial revolution. Adsorption robots, which can stably adsorb, walk and perform work on a wall surface at a certain angle, have been increasingly widely used in the industrial field in recent years. Their adsorption methods are diverse, including vacuum negative pressure adsorption, magnetic adsorption, snap-on adsorption, and bionic adsorption, etc.

[0004] Currently, there are already adsorption robots that can perform cleaning work on the surface of an automobile. However, the existing adsorption crawling robots cannot move and operate on the complex surface of an automobile. For example, they cannot adsorb, move and operate on a complex surface with multiple curved surfaces, nor can they adsorb, move and operate on a complex surface with multi-angle slopes, resulting in poor cleaning effects when the adsorption robots are actually applied. Summary of the Invention

[0005] In view of this, the embodiments of the present invention provide a cleaning robot adsorbed on the surface of an automobile and a using method thereof to solve the problem that the adsorption robot applied to the cleaning of the surface of an automobile cannot move and operate on the complex surface of an automobile.

[0006] According to a first aspect, the embodiments of the present invention provide a cleaning robot adsorbed on the surface of an automobile, including: Two cleaning robots, including a first adsorption robot and a second adsorption robot respectively arranged on both sides. A first cleaning disk for cleaning the surface of the automobile is provided on the first adsorption robot, and a first cleaning disk for cleaning the surface of the automobile is provided on the second adsorption robot; The first adsorption robot and the second adsorption robot are connected by an extension mechanism. A first extension motor is provided on the first adsorption robot, and a second extension motor is provided on the second adsorption robot. The extension mechanism includes a first extension arm connected to the output end of the first extension motor, a second extension arm connected to the output end of the second extension motor, and a third extension motor connected to the first extension arm and the second extension arm. One end of the first extension arm is connected to the output end of the first extension motor, and the other end of the first extension arm is connected to the output end of the third extension motor. One end of the second extension arm is connected to the output end of the second extension motor, and the other end of the second extension arm is connected to the output end of the third extension motor. Moreover, the end of the first extension arm far from the first extension motor and the end of the second extension arm far from the second extension motor are coaxially connected to the output end of the third extension motor; The cleaning robot is provided with a first rotation assembly for driving the corresponding cleaning disc to rotate, a second rotation assembly for driving the extension mechanism and the cleaning robot on the other side to rotate, an adsorption assembly, a visual recognition assembly, and an execution system. The first rotation assembly, the extension mechanism, the second rotation assembly, the adsorption assembly, and the visual recognition assembly are all electrically connected to the execution system; The first cleaning disc includes a disc body and cleaning brushes. The disc body is mounted on the output shaft of the first rotation assembly, and the cleaning brushes are mounted on the surface of one side of the disc body.

[0007] Combined with the first implementation manner of the first aspect, in the first implementation manner of the first aspect, the cleaning brushes include a first brush and a second brush distributed on the disc body.

[0008] Combined with the first aspect, in the second implementation manner of the first aspect, the first adsorption robot includes a bracket. The first rotation assembly includes a first gear disc rotatably connected to the bracket, a connecting frame fixedly connected to the first gear disc, and a first driving motor fixed to the bracket. A first gear is provided at the output end of the first driving motor, and the first gear is in transmission cooperation with the first gear disc.

[0009] Combined with the second implementation manner of the first aspect, in the third implementation manner of the first aspect, the second rotation assembly includes a second gear disc rotatably connected to the bracket, a first connecting arm fixedly connected to the second gear disc, and a second driving motor fixed to the bracket. A first extension motor is mounted on the first connecting arm. A second gear is provided at the output end of the second driving motor, and the second gear is in transmission cooperation with the second gear disc.

[0010] Combined with the second implementation manner of the first aspect, in the fourth implementation manner of the first aspect, the adsorption assembly includes a sliding frame vertically fixed to the bracket, a sliding block slidably connected to the sliding frame, a rack fixed to the sliding block, a suction cup fixed to the sliding block, a third driving motor fixed to the bracket, and a first driving pump pneumatically connected to the suction cup. The first driving pump is fixed to the bracket. A third gear is connected to the output end of the third driving motor, and the third gear is in transmission cooperation with the rack.

[0011] Combined with the second embodiment of the first aspect, in the fourth embodiment of the first aspect, an outer cover body is fixed on the first connecting arm, and a visual recognition component is installed on the outer cover body.

[0012] Combined with the second embodiment of the first aspect, in the sixth embodiment of the first aspect, a second driving pump is vertically installed on the bracket, and the output shaft of the second driving pump is connected with a plurality of rollers.

[0013] Combined with the second embodiment of the first aspect, in the seventh embodiment of the first aspect, the connecting frame is connected with the disc body through a plurality of springs.

[0014] Combined with the seventh embodiment of the first aspect, in the eighth embodiment of the first aspect, the disc body is arranged in a circular ring shape, and the disc body includes a plurality of sub-disc bodies and a disc frame responsible for carrying the sub-disc bodies. The sub-disc bodies are slidably connected with the disc frame. The sub-disc bodies are arranged in a fan shape, and the disc frame is arranged in a circular ring shape. One end surface of each sub-disc body can be connected with the connecting frame through at least one spring, and a cleaning brush is arranged on the other end surface of the sub-disc body.

[0015] According to the second aspect, an embodiment of the present invention provides a working method of a cleaning robot adsorbed on the surface of an automobile, and the method includes: Using the visual recognition component installed on the cleaning robot to identify the position to be operated, and the execution system plans a moving path according to the recognition result obtained by the recognition; According to the moving path, the execution system generates an execution instruction and transmits it to the first rotating component, the extending mechanism, the second rotating component, and the adsorption component; When it is determined that movement is required according to the moving path, after the first adsorption robot adsorbs and fixes the position through the adsorption component arranged thereon, the first extending motor on the first adsorption robot drives the first extending arm to rotate and the third extending motor on the extending component drives the second extending arm to rotate, so as to drive the second adsorption robot to move. When the second adsorption robot moves to the next position according to the moving path, the second adsorption robot adsorbs and fixes the position through the adsorption component arranged thereon and the first adsorption robot desorbs. The second extending motor on the second adsorption robot drives the second extending arm to rotate and the third extending motor on the extending component drives the first extending arm to rotate, so as to drive the first adsorption robot to move. This process is repeated until both the first adsorption robot and the second adsorption robot move to the specified position according to the moving path; When an obstacle is encountered during the movement process, after the first adsorption robot fixes its position through the adsorption component provided thereon, the third extension motor on the extension component drives the second extension arm to rotate, thereby lifting and raising the second adsorption robot so that the second adsorption robot can cross the obstacle. After the second adsorption robot crosses the obstacle, after the second adsorption robot adsorbs and fixes its position through the adsorption component provided thereon, the third extension motor on the extension component drives the first extension arm to rotate, thereby lifting and raising the first adsorption robot so that the first adsorption robot can cross the obstacle; When cleaning operations are required, after the cleaning robot fixes its position through the adsorption component provided thereon, the corresponding cleaning disk is driven to rotate by the first rotating component to clean the working surface.

[0016] The cleaning robot adsorbed on the car surface and its usage method according to the present invention can complete the movement in a way similar to the inchworm movement and cross possible obstacles during the movement through the coordinated cooperation of the extension arms, extension motors, extension mechanisms, and adsorption components respectively provided on the two cleaning robots. In this way, it can move and operate on the car surface, metal and non-metal, flat, curved, concave and convex surfaces, and various complex surfaces, with high flexibility and stability, and well realizes a small-volume, multi-functional, environmentally friendly, and energy-saving adsorption robot. When cleaning is required, through the coordinated cooperation of the adsorption component, the first rotating mechanism, and the second rotating mechanism, the cleaning of complex surfaces is completed. At the same time, after the work is completed, it is folded and stored through the above-mentioned mechanisms, so that the adsorption robot can be portably stored, realizing the cleaning of the vehicle at any time, keeping the car surface clean and pollution-free, reducing the erosion and damage of dirt to the car paint, extending the life of the car surface, and replacing manual cleaning of the car, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Among them: Figure 1 FIG. 1 shows one of the structural schematic diagrams of the cleaning robot adsorbed on the car surface provided by the present invention; Figure 2 FIG. 2 shows the structural schematic diagram of the cleaning robot in the cleaning robot adsorbed on the car surface provided by the present invention; Figure 3 FIG. 3 shows the exploded schematic diagram of the first adsorption robot in the cleaning robot adsorbed on the car surface provided by the present invention; Figure 4 Fig. 1 shows one of the schematic structural diagrams of the interior of the first adsorption robot in the cleaning robot adsorbed on the surface of an automobile provided by the present invention; Figure 5 Fig. 1 shows one of the schematic structural diagrams of the interior of the first adsorption robot in the cleaning robot adsorbed on the surface of an automobile provided by the present invention; Figure 6 Fig. 2 shows another schematic structural diagram of the cleaning robot adsorbed on the surface of an automobile provided by the present invention; Figure 7 Fig. 3 shows yet another schematic structural diagram of the cleaning robot adsorbed on the surface of an automobile provided by the present invention; Figure 8 Fig. 4 shows one of the schematic diagrams of the horizontal movement of the cleaning robot adsorbed on the surface of an automobile provided by the present invention; Figure 9 Fig. 5 shows another schematic diagram of the horizontal movement of the cleaning robot adsorbed on the surface of an automobile provided by the present invention; Figure 10 Fig. 6 shows yet another schematic diagram of the horizontal movement of the cleaning robot adsorbed on the surface of an automobile provided by the present invention; Figure 11 Fig. 7 shows one of the schematic diagrams of the movement of the cleaning robot adsorbed on the surface of an automobile provided by the present invention on a curved surface and an angled surface; Figure 12 Fig. 8 shows another schematic diagram of the movement of the cleaning robot adsorbed on the surface of an automobile provided by the present invention on a curved surface and an angled surface; Figure 13 Fig. 9 shows the schematic diagram of the first adsorption robot driving the second adsorption robot to perform axial movement on a curved surface and an angled surface in the cleaning robot adsorbed on the surface of an automobile provided by the present invention; Figure 14 Fig. 10 shows the schematic diagram of the second adsorption robot driving the first adsorption robot to perform axial movement on a curved surface and an angled surface in the cleaning robot adsorbed on the surface of an automobile provided by the present invention.

[0019] In the figure: 001 - First adsorption robot; 002 - First connecting arm; 003 - First extension arm; 004 - Third extension motor; 005 - Second extension arm; 006 - Second extension motor; 007 - Second connecting arm; 008 - Second adsorption robot; 009 - First cleaning disc; 0010 - First extension motor; 0011 - Second cleaning disc; 1 - Outer housing; 2 - Visual recognition component; 4 - Sliding carriage; 5 - Third driving motor; 6 - Third gear; 7 - Sliding block; 8 - Rack; 9 - Suction cup; 12 - Second toothed disc; 14 - First driving motor; 15 - Second driving motor; 16 - Second driving pump; 17 - Pump station; 18 - First driving pump; 19 - Roller; 20 - Bracket; 22 - First toothed disc; 23 - Connecting frame; 24 - Disc body; 25 - Cleaning brush; 251 - First brush; 252 - Second brush; 26 - Dust cover. Detailed implementation manners

[0020] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.

[0023] In the description of the present application, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", and "coupled" 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 directly connected or indirectly connected 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 application can be understood according to specific situations.

[0024] Currently, in the car wash industry, the commonly used automatic car wash machines for cleaning the car surface are very large in size. Correspondingly, the automatic car wash machines cover a large area, consume a lot of water and electricity, and have high energy consumption.

[0025] With the rapid development of technology, robotics has become a research hotspot in the world today. Among various types of robots, adsorption robots have gradually emerged and become a key role in the future industrial revolution due to their unique principles and structural advantages. Adsorption robots, which can stably adsorb, walk, and perform tasks on a wall surface at a certain angle, have been increasingly widely used in the industrial field in recent years. Their adsorption methods are diverse, including vacuum negative pressure adsorption, magnetic adsorption, snap-on adsorption, and bionic adsorption, etc.

[0026] Currently, there are already adsorption robots that can perform cleaning tasks on the car surface. However, the existing adsorption crawling robots cannot move and operate on complex car surfaces. For example, they cannot adsorb, move, and operate on complex surfaces with multiple curved surfaces, nor can they adsorb, move, and operate on complex surfaces with multi-angle slopes, resulting in poor cleaning effects when the adsorption robots are actually applied.

[0027] To solve the above problems, a cleaning robot adsorbed on the car surface is provided in this specification. The cleaning robot adsorbed on the car surface aims to provide a new type of cleaning robot adsorbed on the car surface that can solve the above problems. Please refer to Figures 1 to 14 , the adsorption robot includes: Two cleaning robots with the same structure. In this embodiment, the two cleaning robots are the first adsorption robot 001 and the second adsorption robot 008 respectively arranged on both sides. The first adsorption robot 001 is provided with a first cleaning disk 009 for cleaning the car surface, and the second adsorption robot 008 is provided with a first cleaning disk 0011 for cleaning the car surface.

[0028] The first adsorption robot 001 and the second adsorption robot 008 are connected by an extension mechanism. A first extension motor 0010 is provided on the first adsorption robot 001. Correspondingly, a second extension motor 006 is provided on the second adsorption robot 008. The extension mechanism includes a first extension arm 003 connected to the output end of the first extension motor 0010, a second extension arm 005 connected to the output end of the second extension motor 006, and a third extension motor 004 connected to the first extension arm 003 and the second extension arm 005. Specifically, one end of the first extension arm 003 is connected to the output end of the first extension motor 0010, and the other end of the first extension arm 003 is connected to the output end of the third extension motor 004. One end of the second extension arm 005 is connected to the output end of the second extension motor 006, and the other end of the second extension arm 005 is connected to the output end of the third extension motor 004. Moreover, the end of the first extension arm 003 away from the first extension motor 0010 and the end of the second extension arm 005 away from the second extension motor 004 are coaxially connected to the output end of the third extension motor 004.

[0029] The setting and coordinated cooperation of the extension mechanism, the first extension motor 0010, and the second extension motor 006 enable the two extension arms, namely the first extension arm 003 and the second extension arm 005, to open or contract with respect to each other, so that the two cleaning robots can move and operate on the complex surface of the vehicle.

[0030] The cleaning robot is provided with a first rotation assembly for driving the corresponding cleaning disc to rotate, a second rotation assembly for driving the extension mechanism and the other cleaning robot to rotate, and an adsorption assembly. In this embodiment, the adsorption assemblies provided on the two cleaning robots respectively enable the corresponding cleaning robots to adsorb on the vehicle surface. By continuously adsorbing and releasing the adsorption and cooperating with the extension mechanism, the adsorption robot can smoothly move on the vehicle surface along the set movement path. During cleaning, the position of the corresponding cleaning robot is fixed through the adsorption mechanism, thereby replacing manual labor and traditional automatic car wash machines to complete the subsequent cleaning work. After adsorption, the first rotation assemblies provided on the two cleaning robots respectively can drive the correspondingly installed cleaning discs, namely the first cleaning disc 009 and the first cleaning disc 0011, to perform rotational motion, and the cleaning of the vehicle surface is achieved through the rotational motion of the cleaning discs. When one of the cleaning robots adsorbs on the vehicle surface or other planes, the position of this cleaning robot is fixed at this time. The second rotation assembly provided on the cleaning robot with the fixed position can drive the extension mechanism and the other cleaning robot to perform rotational motion, thereby driving the other cleaning robot to move to a suitable working position. Through the setting of the second rotation assembly, the movement of the cleaning robot can be carried out and the working range of the entire adsorption robot can be expanded.

[0031] More specifically, please refer toFigures 8 to 10 The above several attached drawings show schematic diagrams of the adsorption robot during horizontal movement. At this time, the adsorption robot can move in a way similar to inchworm movement: when one of the cleaning robots, such as the first adsorption robot 001, fixes its position through the adsorption component provided thereon, the first extension motor 0010 on the first adsorption robot 001 drives the first extension arm 003 to rotate and the third extension motor 004 on the extension component drives the second extension arm 005 to rotate, which can drive the other cleaning robot, that is, the second adsorption robot 008, to move horizontally. When the second adsorption robot 008 moves to the next position according to the movement path, the second adsorption robot 008 then fixes its position through the adsorption component provided thereon and the first adsorption robot 001 is desorbed. Then, the second extension motor 006 on the second adsorption robot 008 drives the second extension arm 005 to rotate and the third extension motor 004 on the extension component drives the first extension arm 003 to rotate, so that the first adsorption robot 001 can be driven to move horizontally again. When the first adsorption robot 001 moves to the next position according to the movement path, the above movement process is repeated. Finally, both cleaning robots can move to the designated position according to the movement path.

[0032] Please refer to Figure 11 and Figure 12 The adsorption robot can also operate on a surface with obstacles: when one of the cleaning robots, such as the first adsorption robot 001, fixes its position through the adsorption component provided thereon, the third extension motor 004 on the extension component drives the second extension arm 005 to rotate, thereby lifting the second adsorption robot 008, so that the second adsorption robot 008 can cross the obstacle. During this process, the first extension motor 0010 on the first adsorption robot 001 can also drive the first extension arm 003 to rotate to further increase the height at which the second adsorption robot 008 is lifted, assisting the second adsorption robot 008 to cross the obstacle. After crossing the obstacle, the movement mode of the adsorption robot is as described above and will not be elaborated here.

[0033] More specifically, please refer to Figure 2 、 Figure 6 and Figure 7 Taking the first adsorption robot 001 as an example for illustration, the first cleaning disk 009 includes a disk body 24 and a cleaning brush 25. The disk body 24 is installed on the output shaft of the first rotating component, and the cleaning brush 25 is installed on the surface of one side of the disk body 24. After the cleaning robot adsorbs on the car and fixes its position, when the first rotating component drives the disk body 24 to rotate at this time, the cleaning brush 25 installed on the disk body 24 can clean the surface of the car.

[0034] In this embodiment, the cleaning brush 25 includes a first brush 251 and a second brush 252 distributed on the disk body 24. Among them, the first brush 251 is a strip-shaped brush body, and the second brush 252 is a convex dot-shaped brush body. The first brush 251 can deal with large-area stains, and the second brush 252 can deal with stains in small gaps. Through the arrangement of the first brush 251 and the second brush 252, when the cleaning brush 25 is driven to rotate for cleaning operations, the cleaning effect of the cleaning robot is improved.

[0035] Preferably, the first brush 251 and the second brush 252 are distributed all over the disk body 24. For example, they can be arranged in a split distribution on the lower surface of the disk body 24 as shown in Figure 6 . Of course, the first brush 251 and the second brush 252 can also adopt other distribution and arrangement methods, and no specific restrictions are imposed on the specific distribution and arrangement methods in this application.

[0036] Please refer to Figures 2 to 7 , taking the first adsorption robot 001 as an example for illustration. The first adsorption robot 001 includes a bracket 20. The first rotating assembly includes a first gear disk 22 rotatably connected to the bracket 20, a connecting frame 23 fixedly connected to the first gear disk 22, and a first driving motor 14 fixed on the bracket 20. The connecting frame 23 is connected to the disk body 24 through a plurality of springs 231. The output end of the first driving motor 20 is provided with a first gear, and the first gear is in transmission cooperation with the first gear disk 22. In this way, when the first driving motor 14 works, it can drive the first gear to rotate. When the first gear rotates, it can drive the first gear disk 22 to rotate. When the first gear disk 22 rotates, it can drive the connecting frame 23 and the disk body 24 installed on the first turntable 22 to rotate, so as to clean the surface of the car through the cleaning brush 25 installed on the disk body 24.

[0037] Since the surface of the car is a complex curved surface, the setting of the springs 231 enables the cleaning brush 25 in the rotating state to cope with the working conditions of the complex car surface and clean the car surface with multiple curved surfaces and angles.

[0038] More specifically, the disk body 24 is set as an annular shape, and the disk body 24 includes a plurality of sub-disk bodies and a disk frame responsible for carrying the sub-disk bodies. The sub-disk bodies are slidably connected to the disk frame. The sub-disk bodies are set as sectors (i.e., a part of the ring), and the disk frame is set as a hollow annular shape. One end surface of each sub-disk body can be connected to the connecting frame 23 through at least one spring 231, and the other end surface of the sub-disk body is provided with the cleaning brush 25. When the first adsorption robot 001 is fixed in position through the adsorption assembly provided thereon, when the disk body 24 is driven to rotate, the setting of the spring 241 enables each sub-disk body to contact the multi-curved and multi-angle car surface, so as to ensure that the cleaning brush 25 can clean the car surface when it is driven to rotate.

[0039] Preferably, one of the first brush 251 or the second brush 252 can be provided on the sub-disk body, or both of the above-mentioned brushes can be provided at the same time. The setting styles of the cleaning brushes 25 on different sub-disk bodies can be inconsistent to ensure the cleaning effect.

[0040] In this embodiment, a dust cover 26 is provided outside the disk body 24. The setting of the dust cover 26 can not only prevent dust but also protect the cleaning component to a certain extent.

[0041] Please refer to Figures 2 to 5 , taking the first adsorption robot 001 as an example for illustration. The second rotating assembly includes a second gear disk 12 rotatably connected to the bracket 20, a first connecting arm 002 fixedly connected to the second gear disk 12, and a second driving motor 15 fixed to the bracket 20. A first extension motor 0010 is installed on the first connecting arm 002. A second gear is provided at the output end of the second driving motor 15. The second gear is in transmission cooperation with the second gear disk 12. In this way, when the second driving motor 15 works, it can drive the second gear to rotate. When the second gear rotates, it can drive the second gear disk 12 to rotate. When the second gear disk 12 rotates, it can drive the first connecting arm 002 installed on the second turntable 12 to rotate.

[0042] Please refer to Figure 13 and Figure 14 , when one of the cleaning robots, such as the first adsorption robot 001, fixes its position through the adsorption component provided thereon, the first connecting arm 002 is driven to rotate by the second driving motor on the first adsorption robot 001, and the extension component connected to the first connecting arm 002 and the other cleaning robot rotate. In this way, it can drive the other cleaning robot, that is, the second adsorption robot 008, to perform axial rotation movement with the first adsorption robot 001 as the axis on the curved surface and the angled surface, and then move the other cleaning robot, that is, the second adsorption robot 008, to a suitable working position. Similarly, when one of the cleaning robots, such as the second adsorption robot 008, fixes its position through the adsorption component provided thereon, the second connecting arm 007 is driven to rotate by the second rotating assembly on the second adsorption robot 008, and the extension component connected to the second connecting arm 007 and the other cleaning robot rotate. In this way, it can drive the other cleaning robot, that is, the first adsorption robot 001, to perform axial rotation movement with the second adsorption robot 008 as the axis on the curved surface and the angled surface, and then move the other cleaning robot, that is, the first adsorption robot 001, to a suitable working position.

[0043] That is, through the setting of the second rotating assembly, the cleaning robot can be moved and the working range of the entire adsorption robot can be expanded.

[0044] Considering the specific assembly, the first sprocket 22 and the second sprocket 12 are arranged at an interval up and down.

[0045] More specifically, please refer to Figures 2 to 5 , taking the first adsorption robot 001 as an example for illustration. The adsorption assembly includes a sliding frame 3 vertically fixed on a bracket 20, a sliding block 7 slidably connected to the sliding frame 3, a rack 8 fixed on the sliding block 7, a suction cup 9 fixed on the sliding block 7, a third driving motor 5 fixed on the bracket 20, and a first driving pump 18 pneumatically connected to the suction cup 9. The first driving pump 18 is fixed on the bracket 20. The output end of the third driving motor 5 is connected with a third gear 6, and the third gear 6 is in transmission cooperation with the rack 9. Through the arrangement of the sliding frame 3 fixedly connected to the bracket 20, when the third driving motor 5 works, it can drive the third gear 6 to rotate. When the third gear rotates, it can drive the rack 8 and the sliding block 7 for mounting the rack 8 to slide up and down at the sliding frame 3, thereby driving the suction cup 9 fixed on the sliding block 7 to move up and down. When the suction cup 9 contacts the working surface, the adsorption work can be carried out.

[0046] In this embodiment, a pumping station 17 is also fixed on the bracket 20. The pumping station 17 is used to provide the driving force when the first driving pump 18 works. The first driving pump 18 is responsible for providing negative pressure adsorption force to each suction cup head on the suction cup 9, so that the cleaning robot is adsorbed on the working surface.

[0047] Preferably, the suction cup 9 adsorbs in a negative pressure manner, and the first driving pump 18 can be equipped with a pneumatic feedback system to identify whether the suction cup 9 is firmly adsorbed.

[0048] In this embodiment, a second driving pump 16 is vertically installed on the bracket 20. The pumping station 17 is used to provide the driving force when the second driving pump 16 works. The output shaft of the second driving pump 16 is connected with a plurality of rollers 19. For example, the output shaft of the second driving pump 16 is connected with a roller frame, and a plurality of rollers 19 are rotatably connected to the roller frame. When the second driving pump 16 works, it can drive the rollers 19 to move up and down to provide collision protection when the corresponding cleaning robot collides with an object.

[0049] The cleaning robot is also equipped with an execution system for control. The first rotating assembly, the extension mechanism, the second rotating assembly, the adsorption assembly, and the visual recognition assembly are all electrically connected to the execution system. Specifically, the execution system can be set on one of the cleaning robots to control the two cleaning robots, or an execution system can be equipped for each cleaning robot. The execution system is responsible for generating a moving path and controlling the work of each other mechanism.

[0050] In this embodiment, taking the first adsorption robot 001 as an example for illustration, components such as the support frame on the bracket 20 are installed with an outer cover 1. The outer cover 1 is fixedly connected to the first connecting arm 002 through the above-mentioned components such as the support frame. The outer cover 1 is provided with a visual recognition component 2. The visual recognition component is a camera integrated on the outer shell of the outer cover 1. The visual recognition component 2 is used to provide a real-time image and send the feedback image to the execution system. According to the feedback data, the execution system generates a movement path and sends an execution instruction. The execution system determines whether to stop, continue, or move left or right according to the execution instruction.

[0051] It should be noted that the visual recognition component 2 can also provide real-time images during the movement and cleaning operation of the adsorption robot. One is to adjust the planned movement path, and the other is to determine whether each mechanism needs to continue working.

[0052] When the second rotation component on the cleaning robot drives the cleaning robot on the other side to perform axial movement on a curved surface and an angled surface, the visual recognition component 2 installed on the cleaning robot on the other side, such as the first cleaning robot 001, can expand the range of collecting real-time images, so as to better assist in the cleaning work. Through the forward and reverse rotation movement of the disk body 24, the cleaning brush 25 physically rubs against the surface of the car, so as to remove foreign objects on the surface of the car. When the visual recognition system 2 identifies foreign objects that are difficult to clean, it can spray water mist through the cleaning bin installed in the bracket to moisten the foreign objects multiple times for cleaning and removal.

[0053] In this embodiment, the outer cover 1 is made of a transparent material, so that lighting components, charging components, prompting components, alarm components, etc. electrically connected to the execution system can be installed inside the outer cover 1. The lighting component can be automatically turned on when it senses insufficient surrounding light, providing better light for the visual recognition component 2, so as to better identify the surrounding situation, and at the same time, it can display the real-time execution situation of the adsorption robot; the prompting component lights up a blue light when the adsorption robot is running normally, lights up an orange light when there is a fault, and lights up a red light when it is knocked down by an external force or suddenly removed, and the alarm component emits an alarm sound at the same time.

[0054] Combined with Figures 1 to 14 , the usage method and working principle of the adsorption robot are as follows: S10. Use the visual recognition component installed on the cleaning robot to identify the position to be operated, and the execution system plans a movement path according to the recognition result obtained by the recognition.

[0055] S20. According to the movement path, the execution system generates an execution instruction and transmits it to the first rotation component, the extension mechanism, the second rotation component, and the adsorption component. In this way, the preliminary preparation work has been completed.

[0056] S30. When it is determined that movement is required according to the movement path, after the first adsorption robot 001 fixes its position through the adsorption component provided thereon, the first extension motor 0010 on the first adsorption robot 001 drives the first extension arm 003 to rotate and the third extension motor 004 on the extension component drives the second extension arm 005 to rotate, which can drive the other cleaning robot, that is, the second adsorption robot 008, to move horizontally. When the second adsorption robot 008 moves to the next position according to the movement path, the second adsorption robot 008 then fixes its position through the adsorption component provided thereon and the first adsorption robot 001 is desorbed. Then, the second extension motor 006 on the second adsorption robot 008 drives the second extension arm 005 to rotate and the third extension motor 004 on the extension component drives the first extension arm 003 to rotate, which can drive the first adsorption robot 001 to move horizontally again. When the first adsorption robot 001 moves to the next position according to the movement path, the above movement process is repeated until both cleaning robots can move to the specified position according to the movement path.

[0057] It can be understood that the order of moving the first adsorption robot 001 and the second adsorption robot 008 in this step is not restricted. That is, it can also be that the second adsorption robot 008 adsorbs and fixes first and drives the first adsorption robot 001 to move.

[0058] S40. When an obstacle is encountered during the movement process, after the first adsorption robot 001 fixes its position through the adsorption component provided thereon, the third extension motor 004 on the extension component drives the second extension arm 005 to rotate, thereby lifting the second adsorption robot 008 to enable the second adsorption robot 008 to cross the obstacle. After the second adsorption robot 008 crosses the obstacle, the second adsorption robot 008 adsorbs and fixes its position through the adsorption component provided thereon, and the third extension motor 004 on the extension component drives the first extension arm 003 to rotate, thereby lifting the first adsorption robot 001 to enable the first adsorption robot 001 to cross the obstacle.

[0059] It can be understood that the order of moving the first adsorption robot 001 and the second adsorption robot 008 in this step is not restricted. That is, it can also be that the second adsorption robot 008 adsorbs and fixes first and drives the first adsorption robot 001 to cross the obstacle.

[0060] S50. When cleaning operation is required, the cleaning robot fixes its position through the adsorption component provided thereon, and then drives the corresponding cleaning disc to rotate through the first rotation component to clean the working surface (such as the surface of an automobile).

[0061] It should be noted that after the work is completed, the first adsorption robot 001 and the second adsorption robot 008 are folded and stored through the above-mentioned mechanism.

[0062] The cleaning robot adsorbed on the car surface and its using method of the present invention can move in a way similar to the inchworm movement and cross possible obstacles during the movement through the coordinated cooperation of the extension arms, extension motors, extension mechanisms and adsorption components respectively arranged on the two cleaning robots. In this way, it can move and operate on the car surface, metal and non-metal, flat surface, curved surface, concave and convex surface, and various complex surfaces, with high flexibility and stability, and well realizes the adsorption robot with small volume, multi-function, environmental protection and energy saving. When cleaning is needed, through the coordinated cooperation of the adsorption component, the first rotating mechanism and the second rotating mechanism, the cleaning of complex surfaces is completed. At the same time, after the work is completed, it is folded and stored through the above-mentioned mechanism, so that the adsorption robot can be portably stored, realizing the cleaning of the vehicle at any time, keeping the car surface clean and pollution-free, reducing the erosion and damage of dirt to the car paint, prolonging the life of the car surface, and replacing manual cleaning of the car, etc.

[0063] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or equivalently replace some of the technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cleaning robot adsorbed on the surface of an automobile, characterized in that, Including: Two cleaning robots, including a first adsorption robot and a second adsorption robot respectively arranged on both sides. A first cleaning disk for cleaning the surface of the vehicle is provided on the first adsorption robot, and a first cleaning disk for cleaning the surface of the vehicle is provided on the second adsorption robot; The first adsorption robot and the second adsorption robot are connected by an extension mechanism. A first extension motor is provided on the first adsorption robot, and a second extension motor is provided on the second adsorption robot. The extension mechanism includes a first extension arm connected to the output end of the first extension motor, a second extension arm connected to the output end of the second extension motor, and a third extension motor connected to the first extension arm and the second extension arm. One end of the first extension arm is connected to the output end of the first extension motor, and the other end of the first extension arm is connected to the output end of the third extension motor. One end of the second extension arm is connected to the output end of the second extension motor, and the other end of the second extension arm is connected to the output end of the third extension motor. And the end of the first extension arm far from the first extension motor and the end of the second extension arm far from the second extension motor are coaxially connected to the output end of the third extension motor; A first rotation assembly for driving the corresponding cleaning disk to rotate, a second rotation assembly for driving the extension mechanism and the cleaning robot on the other side to rotate, an adsorption assembly, a visual recognition assembly and an execution system are provided on the cleaning robot. The first rotation assembly, the extension mechanism, the second rotation assembly, the adsorption assembly and the visual recognition assembly are all electrically connected to the execution system; The first cleaning disk includes a disk body and cleaning brushes. The disk body is installed on the output shaft of the first rotation assembly, and the cleaning brushes are installed on the surface of one side of the disk body.

2. The cleaning robot adsorbed on the surface of an automobile according to claim 1, wherein, The cleaning brushes include a first brush and a second brush distributed on the disk body.

3. The cleaning robot adsorbed on the surface of an automobile according to claim 1, wherein The first adsorption robot includes a bracket. The first rotation assembly includes a first gear disk rotatably connected to the bracket, a connecting frame fixedly connected to the first gear disk, and a first driving motor fixed to the bracket. A first gear is provided at the output end of the first driving motor, and the first gear is in transmission cooperation with the first gear disk.

4. The cleaning robot adsorbed on the surface of an automobile according to claim 3, wherein The second rotation assembly includes a second gear disk rotatably connected to the bracket, a first connecting arm fixedly connected to the second gear disk, and a second driving motor fixed to the bracket. A first extension motor is installed on the first connecting arm. A second gear is provided at the output end of the second driving motor, and the second gear is in transmission cooperation with the second gear disk.

5. The cleaning robot adsorbed on the surface of an automobile according to claim 3, characterized in that, The adsorption assembly includes a sliding frame vertically fixed to the bracket, a sliding block slidably connected to the sliding frame, a rack fixed to the sliding block, a suction cup fixed to the sliding block, a third driving motor fixed to the bracket, and a first driving pump pneumatically connected to the suction cup. The first driving pump is fixed to the bracket. A third gear is connected to the output end of the third driving motor, and the third gear is in transmission cooperation with the rack.

6. The cleaning robot adsorbed on the surface of an automobile according to claim 3, characterized in that An outer cover body is fixed on the first connecting arm, and a visual recognition assembly is installed on the outer cover body.

7. The cleaning robot adsorbed on the surface of an automobile according to claim 3, characterized in that, A second driving pump is vertically installed on the bracket, and a plurality of rollers are connected to the output shaft of the second driving pump.

8. The cleaning robot adsorbed on the surface of an automobile according to claim 3, characterized in that, The connecting frame is connected to the disk body through a plurality of springs.

9. The cleaning robot adsorbed on the surface of an automobile according to claim 8, wherein The disk body is set to be annular, and the disk body includes several sub-disk bodies and a disk frame responsible for carrying the sub-disk bodies. The sub-disk bodies are slidably connected to the disk frame. The sub-disk bodies are set to be fan-shaped, and the disk frame is set to be annular. One end surface of each sub-disk body can be connected to a connecting frame through at least one spring, and a cleaning brush is provided on the other end surface of the sub-disk body.

10. A method for using a cleaning robot adsorbed on the surface of an automobile according to claim 1, characterized in that, The method includes: Using the vision recognition component installed on the cleaning robot to recognize the position to be operated, and the execution system plans a movement path according to the recognition result obtained by the recognition; According to the movement path, the execution system generates an execution instruction and transmits it to the first rotation component, the extension mechanism, the second rotation component, and the adsorption component; When it is determined that movement is required according to the movement path, after the first adsorption robot adsorbs and fixes the position through the adsorption component provided thereon, the first extension motor on the first adsorption robot drives the first extension arm to rotate and the third extension motor on the extension component drives the second extension arm to rotate, driving the second adsorption robot to move. When the second adsorption robot moves to the next position according to the movement path, the second adsorption robot adsorbs and fixes the position through the adsorption component provided thereon and the first adsorption robot is desorbed. The second extension motor on the second adsorption robot drives the second extension arm to rotate and the third extension motor on the extension component drives the first extension arm to rotate, driving the first adsorption robot to move. This process is repeated until both the first adsorption robot and the second adsorption robot move to the designated position according to the movement path; When an obstacle is encountered during the movement, after the first adsorption robot fixes the position through the adsorption component provided thereon, the third extension motor on the extension component drives the second extension arm to rotate, thereby lifting the second adsorption robot to make the second adsorption robot cross the obstacle. After the second adsorption robot crosses the obstacle, the second adsorption robot adsorbs and fixes the position through the adsorption component provided thereon, and the third extension motor on the extension component drives the first extension arm to rotate, thereby lifting the first adsorption robot to make the first adsorption robot cross the obstacle; When cleaning operation is required, after the cleaning robot fixes the position through the adsorption component provided thereon, the corresponding cleaning disk is driven to rotate by the first rotation component to clean the working surface.

Images