Crawler chassis and cleaning robot thereof

Abstract

The invention relates to the technical field of cleaning robots, in particular to a caterpillar band chassis and a cleaning robot thereof, the caterpillar band chassis is used for cleaning a GIS equipment cavity, and the caterpillar band chassis comprises a chassis support, a flexible caterpillar band part, a negative pressure part and a transmission wheel set. Adsorption holes are distributed in the flexible crawler belt pieces which are arranged on the two sides of the chassis support. The negative pressure piece is installed at the bottom of the chassis support and connected with the adsorption hole, and adsorption attachment of the crawler chassis and the environment is achieved through an external vacuum pump. The negative-pressure part comprises a plurality of rotatable negative-pressure bins and is communicated with the vacuum pump through a negative-pressure pipe and a main air pipe, and the adsorption holes pass through the end of the negative-pressure pipe in the moving process. The transmission wheel set comprises a driving wheel, a driven wheel and a driving motor, the driving wheel drives the driven wheel to drive the crawler chassis to move, and the supporting piece provides tension for the flexible crawler piece. And the sealing layer is arranged between the flexible track part and the negative pressure part, so that the walking stability and sealing performance of the track on the wall surface of the cavity are ensured. According to the chassis design, the self-adaptability and obstacle crossing ability of the cleaning robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and more particularly, to a crawler chassis and a cleaning robot thereof. Background Art

[0002] GIS equipment (Gas Insulated Switchgear) is a gas-insulated enclosed metal enclosed switchgear, which has the advantages of safe and reliable operation, small volume, no explosion hazard, etc., and is widely used in high- and low-voltage power systems, especially suitable for use in urban power grids. Most of the insulation and support components inside GIS are made of materials such as epoxy resin, polypropylene, glass fiber, graphite, etc. Due to the influence of arc decomposition, condensation, dust accumulation, etc., the local insulation performance is likely to decline, and regular inspection and maintenance are required to ensure the reliable operation of GIS equipment.

[0003] Currently, the cleaning of the internal cavity of GIS equipment is mainly carried out by workers entering the cavity for cleaning operations. The internal cavity space of GIS equipment is extremely limited, and many areas are so narrow that it is almost impossible for operators to enter, which greatly hinders the full implementation of cleaning work. Manual cleaning is not only inefficient, but also often fails to reach the "dead corners" due to human inaccessibility, resulting in a significant reduction in cleaning effect. Sometimes, the equipment has to be shut down for a long time for thorough cleaning, further increasing the operating cost and time loss. Moreover, during the cleaning process, the decomposition products of the residual SF6 gas inside, such as sulfides and fluorides, have serious toxic effects on the human body. To protect the health of operators, a large amount of time is required to wait for the harmful gas to be fully discharged before each cleaning, which is a long and uncertain process, increasing the additional time and economic burden.

[0004] In view of the above problems, the introduction of cleaning robots, automation, and innovative cleaning technologies has become an urgent need to improve the cleaning efficiency and safety of the internal cavity of GIS equipment. However, the existing cleaning robots have large space limitations, long operation time, and low obstacle-crossing ability. Summary of the Invention

[0005] The problem solved by the present invention is that the existing cleaning robots for the internal cavity of GIS equipment have large space limitations, long operation time, and low obstacle-crossing ability.

[0006] To solve the above problems, one aspect of the present application provides a crawler chassis for cleaning the cavity of GIS equipment, which includes: A chassis bracket, a flexible crawler member, a negative pressure member, and a transmission wheel set. The flexible crawler member is disposed on both sides of the chassis bracket, and adsorption holes are evenly distributed on the flexible crawler member; the negative pressure member is installed at the bottom of the chassis bracket, and the negative pressure member is connected to the adsorption holes, and the crawler chassis realizes adsorption and fitting with the external environment through the negative pressure member; and the flexible crawler member is wound around the transmission wheel set, and the transmission wheel set is used to drive the crawler chassis to move.

[0007] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: First, through the design of the flexible track component and the negative pressure component in the crawler chassis, the entire device can adapt to the complex space inside the GIS equipment cavity. Its scale range can overcome different diameters of the GIS cavity and the obstacles contained therein. For the accessible space inside the cavity, the crawler chassis meets the dimensional and morphological constraints and improves the coverage rate of the walking space inside the cavity. It can move flexibly even in narrow areas, breaking through the bottleneck that traditional robots cannot enter due to space limitations. Second, on the basis of stable adsorption, through the cooperation of the negative pressure component and the adsorption holes, the entire device of the crawler chassis can undertake operations in the narrow space inside the cavity. The crawler chassis has the ability to move omnidirectionally and overcome obstacles inside the cavity, and has a high safety factor. Even in the case of special processing of the GIS cavity wall surface, this negative pressure design of the crawler chassis is not likely to damage the inner surface of the cavity and will not damage the wall material due to large positive pressure, excessive slipping and friction, improving the safety and reliability of the cleaning operation. Third, compared with traditional manual cleaning or fixed cleaning equipment, the crawler chassis can automatically complete the cleaning operation, reducing manual intervention and lowering the operation difficulty and labor intensity.

[0008] Furthermore, the negative pressure component includes a plurality of negative pressure chambers, and the negative pressure chambers are respectively rotatably connected to the chassis support.

[0009] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: First, multiple negative pressure chambers can rotate independently, and can automatically adjust the angle according to different shapes and diameters inside the cavity, enabling the crawler chassis to better fit the inner wall of the cavity, improving the adsorption effect and cleaning coverage rate. Second, the rotatable design of the negative pressure chambers enables the crawler chassis to automatically adjust its posture when encountering obstacles, achieving a certain degree of obstacle crossing and reducing cleaning interruptions caused by obstacles. Third, multiple negative pressure chambers work simultaneously, increasing the adsorption force of the crawler chassis, enabling it to carry heavier cleaning equipment or tools, improving the load capacity of the robot. At the same time, through the design of multiple negative pressure chambers, the negative pressure of different negative pressure chambers is adjusted according to the actual road conditions, and the adsorption force at different positions of the crawler is adjusted, enabling the crawler chassis to adjust its posture, and further improving the obstacle crossing ability in complex situations.

[0010] Furthermore, a rotating shaft is provided at the center of the negative pressure chamber, and a rotating part is provided on the chassis support. One end of the rotating shaft is connected to the negative pressure chamber, and the other end is installed in the rotating part, and the negative pressure chamber can rotate around the rotating shaft.

[0011] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: First, the design of the rotating shaft and the rotating part provides stable support for the rotation of the negative pressure bin, ensuring that the negative pressure bin will not shift or shake during rotation, and improving the overall stability of the crawler chassis. Second, through the connection of the rotating shaft, the negative pressure bin can achieve precise rotation, making the movement of the crawler chassis on the inner wall of the cavity smoother and more accurate, improving the obstacle-crossing ability in complex situations and the quality of the cleaning operation.

[0012] Furthermore, the negative pressure bin is provided with a negative pressure pipe and a main air pipe. One end of the negative pressure pipe is arranged in contact with the flexible crawler part, and the other end is connected to the main air pipe. The main air pipe is connected to an external vacuum pump; when the crawler chassis moves, the adsorption holes pass through the end of the negative pressure pipe.

[0013] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: Through the connection of the negative pressure pipe and the main air pipe, the negative pressure generated by the external vacuum pump can be efficiently transmitted to the negative pressure bin and the adsorption holes, ensuring that the crawler chassis always has a stable adsorption force during movement. At the same time, the design of the negative pressure pipe enables the negative pressure to act evenly on the adsorption holes on the flexible crawler, avoiding problems such as insufficient adsorption force or local adsorption failure caused by uneven negative pressure distribution, and improving the adsorption performance of the crawler chassis.

[0014] Furthermore, the transmission wheel set includes: a driving wheel and a driven wheel. The driving wheel and the driven wheel are respectively arranged at both ends of the flexible crawler part. The driving wheel is connected to a driving motor, and the driving wheel drives the driven wheel to move through the flexible crawler part.

[0015] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: The connection between the driving wheel and the driving motor can efficiently transmit the power of the motor to the flexible crawler, driving the driven wheel to move, ensuring the smooth and reliable movement of the crawler chassis; at the same time, the design of the transmission wheel set makes the overall structure of the crawler chassis more compact, reducing the volume and weight of the equipment, and making it more suitable for use in the narrow space inside the GIS equipment cavity.

[0016] Furthermore, the crawler chassis is provided with a support member. The support member is arranged on the chassis bracket and is connected to the driving wheel and the driven wheel.

[0017] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: The support member can provide stable tension for the flexible crawler, preventing the crawler from becoming loose or slipping during movement, ensuring good contact between the crawler and the transmission wheel set, and improving the transmission efficiency; at the same time, the connection and support of the support member to the driving wheel and the driven wheel make the crawler chassis more stable during movement, reducing vibration and shaking, and improving the quality of the cleaning operation.

[0018] Furthermore, the driving wheel is fixedly connected to the chassis bracket. The chassis bracket is provided with a fixing part. One end of the supporting member is fixed to the fixing part, and the other end abuts against the driven wheel. The supporting member is used to provide tension to the flexible track member.

[0019] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: Through the connection between the supporting member and the fixing part, the tension of the flexible track can be precisely adjusted to ensure that the track always maintains the best tension state under different working conditions, improving the service life and transmission performance of the track; The fixed connection between the driving wheel and the chassis bracket and the layout of the supporting member make the overall structure of the track chassis more stable, reducing the risk of failures caused by component loosening or displacement.

[0020] Furthermore, the geometric center of the negative pressure chamber is set lower than the geometric center of the driving wheel; and / or, the geometric center of the negative pressure chamber is set lower than the geometric center of the driven wheel.

[0021] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: Firstly, the geometric center of the negative pressure chamber is set lower than the geometric centers of the driving wheel and the driven wheel, which can make the center of gravity of the track chassis closer to the inner wall of the cavity, improving its adsorption stability and movement stability on the inner wall; Secondly, through this design, an included angle is formed between the driving wheel, the driven wheel and the negative pressure chamber, enabling the flexible track member to have better obstacle-crossing ability and improving the stability of the track chassis.

[0022] Furthermore, the track chassis is provided with a sealing layer, and the sealing layer is arranged between the flexible track member and the negative pressure member.

[0023] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: Firstly, the setting of the sealing layer reduces the wear between the flexible track and the negative pressure member, extends the service lives of the flexible track and the negative pressure member, and reduces the maintenance cost of the equipment. Secondly, the sealing layer ensures the close fit between the flexible track and the negative pressure member. The stable adsorption force enables the track chassis to better fit the inner wall of the cavity, improving the quality and efficiency of the cleaning operation and reducing the cleaning dead corners.

[0024] On the other hand, the present application provides a cleaning robot, which includes the track chassis of any one of the above. The beneficial effects are not elaborated here again.

[0025] By adopting the above design, the crawler chassis of the cleaning robot in this application can achieve efficient and stable movement and cleaning within the GIS equipment cavity. The negative pressure adsorption technology ensures the stability and sealing performance of the robot when walking on the cavity wall surface. Even on inclined or vertical surfaces, it can maintain good adsorption ability, effectively avoiding the slipping of the robot during the cleaning process. The adaptive and obstacle-crossing capabilities of the flexible crawler assembly enable the robot to flexibly cope with the complex terrain within the GIS equipment cavity, such as obstacles like pipes and brackets, improving the efficiency and scope of the cleaning operation. The sealed fitting design further enhances the effect of negative pressure adsorption, ensuring both the sealed fitting between the flexible crawler and the negative pressure chamber and improving the negative pressure stability of the flexible crawler. Overall, the design of this crawler chassis significantly improves the operation ability and environmental adaptability of the cleaning robot, providing a reliable and efficient solution for the maintenance and cleaning of the GIS equipment cavity. Brief Description of the Drawings

[0026] Figure 1 Shows the overall structural schematic diagram of a crawler chassis in this exemplary embodiment; Figure 2 Shows the state schematic diagram of a crawler chassis within the GIS cavity in this exemplary embodiment; Figure 3 Shows another state schematic diagram of a crawler chassis within the GIS cavity in this exemplary embodiment; Figure 4 Shows the structural cross-sectional view of the cooperation between the negative pressure pipe and the flexible crawler part in this exemplary embodiment.

[0027] Description of the Reference Numerals: 100 - Chassis Bracket; 101 - Fixed Part; 201 - Negative Pressure Chamber; 202 - Rotating Part; 203 - Rotating Shaft; 204 - Negative Pressure Pipe; 205 - Negative Pressure Port; 301 - Flexible Crawler Part; 302 - Support Part; 304 - Driving Wheel; 305 - Driven Wheel; 306 - Driving Motor; 307 - Adsorption Hole; 400 - Main Air Pipe. Detailed Embodiment

[0028] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or may be implemented using other methods, components, devices, steps, etc. In other cases, well-known technical solutions are not shown or described in detail to avoid obscuring the various aspects of the present disclosure.

[0029] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted.

[0030] In order to make the above objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0031] See Figures 1 - 4 , this application discloses a crawler chassis for cleaning the cavity of a GIS device. The crawler chassis includes: a chassis bracket 100, a flexible crawler member 301, a negative pressure member, and a drive wheel set. The flexible crawler member 301 is disposed on both sides of the chassis bracket 100, and adsorption holes 307 are uniformly distributed on the flexible crawler member 301; the negative pressure member is installed at the bottom of the chassis bracket 100, and the negative pressure member is connected to the adsorption holes 307. The crawler chassis realizes adsorption and fitting with the external environment through the negative pressure member; and the flexible crawler member 301 is wound around the drive wheel set, and the drive wheel set is used to drive the crawler chassis to move.

[0032] First, through the design of the flexible track member 301 and the negative pressure member in the crawler chassis, the entire device can adapt to the complex space inside the GIS equipment cavity. Its scale range can overcome different diameters of the GIS cavity and the obstacles contained therein. For the accessible space in the cavity, the crawler chassis meets the dimensional and morphological constraints, improving the coverage rate of the walking space in the cavity. Even in narrow areas, it can move flexibly, breaking through the bottleneck that traditional robots cannot enter due to space limitations. Second, on the basis of stable adsorption, through the cooperation of the negative pressure member and the adsorption holes 307, the entire device of the crawler chassis can undertake operations in the narrow space in the cavity. The crawler chassis has the ability of omnidirectional movement and obstacle crossing in the cavity, and has a high safety factor. Even in the case of special processing of the GIS cavity wall surface, this negative pressure design of the crawler chassis is not easy to damage the inner surface of the cavity, and will not damage the wall material due to large positive pressure, excessive slip and friction, improving the safety and reliability of the cleaning operation. Third, compared with traditional manual cleaning or fixed cleaning equipment, the crawler chassis can automatically complete the cleaning operation, reducing manual intervention and lowering the operation difficulty and labor intensity.

[0033] Specifically, referring to Figures 1 - 3 , the negative pressure member includes a plurality of negative pressure chambers 201, and the negative pressure chambers 201 are respectively rotatably connected to the chassis bracket 100.

[0034] First, the multiple negative pressure chambers 201 can rotate independently, and can automatically adjust the angle according to the different shapes and diameters inside the cavity, enabling the crawler chassis to better fit the inner wall of the cavity, improving the adsorption effect and cleaning coverage rate. Second, the rotatable design of the negative pressure chambers 201 enables the crawler chassis to automatically adjust its posture when encountering obstacles, achieving a certain degree of obstacle crossing and reducing cleaning interruption caused by obstacles. Third, the multiple negative pressure chambers 201 work simultaneously, increasing the adsorption force of the crawler chassis, enabling it to carry heavier cleaning equipment or tools, improving the load capacity of the robot. At the same time, through the design of the multiple negative pressure chambers 201, the negative pressure of different negative pressure chambers 201 is adjusted according to the actual road conditions, and the adsorption force at different positions of the track is adjusted, enabling the crawler chassis to adjust its posture, and further improving the obstacle crossing ability in complex situations.

[0035] Specifically, referring to Figure 1 , a rotating shaft 203 is provided at the center of the negative pressure chamber 201, and a rotating part 202 is provided on the chassis bracket 100. One end of the rotating shaft 203 is connected to the negative pressure chamber 201, and the other end is installed on the rotating part 202, and the negative pressure chamber 201 can rotate around the rotating shaft 203.

[0036] The crawler chassis relies on the negative pressure chamber 201 to support the flexible crawler part 301 at the bottom and adsorbs and walks on the inner wall of the GIS cavity. The negative pressure chamber 201 can rotate independently along the rotation axis 203. By rotating the angle of the negative pressure chamber 201, the crawler chassis cooperates with the support member 302 to automatically tension the flexible crawler part 301 to fit the inner wall, realizing self - adaptation to cavities of different diameters.

[0037] First, the design of the rotation axis 203 and the rotation part 202 provides stable support for the rotation of the negative pressure chamber 201, ensuring that the negative pressure chamber 201 will not shift or shake during rotation, and improving the overall stability of the crawler chassis. Second, through the connection of the rotation axis 203, the negative pressure chamber 201 can achieve precise rotation, making the movement of the crawler chassis on the inner wall of the cavity smoother and more accurate, improving the obstacle - crossing ability in complex situations and the quality of the cleaning operation.

[0038] Specifically, referring to Figure 1 and Figure 4 , the negative pressure chamber 201 is provided with a negative pressure pipe 204 and a main air pipe 400. One end of the negative pressure pipe 204 is arranged in contact with the flexible crawler part 301, and the other end is connected to the main air pipe 400. The main air pipe 400 is connected to an external vacuum pump; when the crawler chassis moves, the adsorption holes 307 pass by the end of the negative pressure pipe 204.

[0039] For example, a plurality of adsorption holes 307 are uniformly arranged at intervals along the length direction on the outer surface of the flexible crawler part 301. The inner surface of the flexible crawler part 301 is in contact with the negative pressure chamber 201, and the negative pressure ports 205 are communicated with the plurality of adsorption holes 307.

[0040] When the crawler chassis walks in the GIS cavity, the cleaning robot connects the main air pipe 400 through an external negative pressure generator or a vacuum pump, and the negative pressure pipe 204 evacuates the air in the plurality of negative pressure chambers 201 to form a negative pressure. When the driving wheel 304 drives the flexible crawler part 301 to rotate, the inner surface of the driving wheel 304 moves relative to the bottom of the negative pressure chamber 201. When the adsorption holes 307 move below the negative pressure ports 205, the adsorption holes 307 are communicated with the negative pressure chamber 201, so that a negative pressure environment is also generated inside the adsorption holes 307, thereby making the flexible crawler part 301 at the bottom of the negative pressure chamber 201 also generate suction force, realizing stable adsorption while the crawler chassis moves on the inner wall of the GIS cavity.

[0041] Through the connection of the negative pressure pipe 204 and the main air pipe 400, the negative pressure generated by the external vacuum pump can be efficiently transmitted to the negative pressure chamber 201 and the adsorption holes 307, ensuring that the crawler chassis always has a stable adsorption force during movement. At the same time, the design of the negative pressure pipe 204 enables the negative pressure to act evenly on the adsorption holes 307 on the flexible crawler, avoiding problems such as insufficient adsorption force or local adsorption failure caused by uneven negative pressure distribution, and improving the adsorption performance of the crawler chassis.

[0042] Specifically, refer to Figures 1 - 3 , the drive wheel set includes: a driving wheel 304 and a driven wheel 305. The driving wheel 304 and the driven wheel 305 are respectively arranged at both ends of the flexible track member 301. The driving wheel 304 is connected to the driving motor 306, and the driving wheel 304 drives the driven wheel 305 to move through the flexible track member 301.

[0043] The connection between the driving wheel 304 and the driving motor 306 can efficiently transmit the power of the motor to the flexible track, drive the driven wheel 305 to move, and ensure the smooth and reliable movement of the crawler chassis; at the same time, the design of the drive wheel set makes the overall structure of the crawler chassis more compact, reduces the volume and weight of the equipment, and makes it more suitable for use in the narrow space inside the GIS equipment cavity.

[0044] Specifically, refer to Figure 1 , the crawler chassis is provided with a support member 302. The support member 302 is arranged on the chassis bracket 100 and is connected to the driving wheel 304 and the driven wheel 305.

[0045] The support member 302 can provide stable tension for the flexible track member 301, prevent the track from becoming loose or slipping during movement, ensure good contact between the track and the drive wheel set, and improve the transmission efficiency; at the same time, the connection and support of the support member 302 to the driving wheel 304 and the driven wheel 305 make the crawler chassis more stable during movement, reduce vibration and shaking, and improve the quality of the cleaning operation.

[0046] Specifically, refer to Figure 1 , the driving wheel 304 is fixedly connected to the chassis bracket 100. The chassis bracket 100 is provided with a fixing part 101. One end of the support member 302 is fixed to the fixing part 101, and the other end abuts against the driven wheel 305. The support member 302 is used to provide tension for the flexible track member 301.

[0047] For example, the support member 302 can be a spring.

[0048] Through the connection between the support member 302 and the fixing part 101, the tension of the flexible track can be precisely adjusted to ensure that the track always maintains the best tension state under different working conditions, so that the flexible track member 301 does not slip between the driving wheel 304 and the flexible track member 301 does not fall off, improving the service life and transmission performance of the track; the fixed connection between the driving wheel 304 and the chassis bracket 100 and the layout of the support member 302 make the overall structure of the crawler chassis more stable, reducing the risk of failure caused by component loosening or displacement.

[0049] Specifically, refer to Figure 1 and Figure 2, the geometric center of the negative pressure chamber 201 is set lower than the geometric center of the driving wheel 304; and / or, the geometric center of the negative pressure chamber 201 is set lower than the geometric center of the driven wheel 305.

[0050] First, setting the geometric center of the negative pressure chamber 201 lower than the geometric centers of the driving wheel 304 and the driven wheel 305 can make the center of gravity of the crawler chassis closer to the inner wall of the cavity, improving its adsorption stability and movement stability on the inner wall; second, through this design, an oblique angle is formed among the driving wheel 304, the driven wheel 305, and the negative pressure chamber 201, enabling the flexible crawler part 301 to have better obstacle-crossing ability and improving the stability of the crawler chassis.

[0051] Specifically, the sealing layer is not shown in the drawings. The crawler chassis is provided with a sealing layer, and the sealing layer is arranged between the flexible crawler part 301 and the negative pressure part.

[0052] For example, the sealing layer can adopt Teflon patches.

[0053] First, the setting of the sealing layer reduces the wear between the flexible crawler and the negative pressure part, extends the service life of the flexible crawler and the negative pressure part, and reduces the maintenance cost of the equipment. Second, the sealing layer ensures the close fit between the flexible crawler and the negative pressure part. The stable adsorption force enables the crawler chassis to better fit the inner wall of the cavity, improving the quality and efficiency of the cleaning operation and reducing the cleaning dead corners.

[0054] On the other hand, the present application provides a cleaning robot, which includes the crawler chassis of any one of the above, and its beneficial effects will not be elaborated here.

[0055] By adopting the above design, the crawler chassis of the cleaning robot of the present application can achieve efficient and stable movement and cleaning in the GIS equipment cavity. The negative pressure adsorption technology ensures the stability and sealing performance of the robot when walking on the cavity wall surface. Even on inclined or vertical surfaces, it can maintain good adsorption ability, effectively avoiding the slipping of the robot during the cleaning process. The self-adaptive and obstacle-crossing ability of the flexible crawler part 301 enables the robot to flexibly cope with the complex terrain in the GIS equipment cavity, such as obstacles like pipelines and brackets, improving the efficiency and scope of the cleaning operation. The sealed fit design further enhances the effect of negative pressure adsorption, ensuring both the sealed fit between the flexible crawler part 301 and the negative pressure chamber 201 and improving the negative pressure stability of the flexible crawler part 301. Overall, the design of this crawler chassis significantly improves the operation ability and environmental adaptability of the cleaning robot, providing a reliable and efficient solution for the maintenance and cleaning of the GIS equipment cavity.

[0056] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A crawler chassis for cleaning the cavity of a GIS device, characterized in that, The crawler chassis includes: a chassis bracket (100); a flexible crawler member (301) disposed on both sides of the chassis bracket (100), and adsorption holes (307) are evenly distributed on the flexible crawler member (301); a negative pressure member installed at the bottom of the chassis bracket (100), the negative pressure member is connected to the adsorption holes (307), and the crawler chassis realizes adsorption and fitting with the external environment through the negative pressure member; a transmission wheel set, the flexible crawler member (301) is wound around the transmission wheel set, and the transmission wheel set is used to drive the crawler chassis to move.

2. The crawler chassis according to claim 1, characterized in that, The negative pressure member includes a plurality of negative pressure chambers (201), and the negative pressure chambers (201) are respectively rotatably connected to the chassis bracket (100).

3. The crawler chassis according to claim 2, characterized in that, A rotating shaft (203) is provided at the center of the negative pressure chamber (201), a rotating portion (202) is provided on the chassis bracket (100), one end of the rotating shaft (203) is connected to the rotating portion (202), and the other end is installed on the rotating portion (202), and the negative pressure chamber (201) can rotate around the rotating shaft (203).

4. The crawler chassis according to claim 3, characterized in that, The negative pressure chamber (201) is provided with a negative pressure pipe (204) and a main air pipe (400), one end of the negative pressure pipe (204) is arranged in contact with the flexible crawler member (301), the other end is connected to the main air pipe (400), and the main air pipe (400) is connected to an external vacuum pump; When the crawler chassis moves, the adsorption holes (307) pass through the end of the negative pressure pipe (204).

5. The crawler chassis according to claim 2, wherein, The transmission wheel set includes: a driving wheel (304) and a driven wheel (305), the driving wheel (304) and the driven wheel (305) are respectively arranged at both ends of the flexible crawler member (301), the driving wheel (304) is connected to a driving motor (306), and the driving wheel (304) drives the driven wheel (305) to move through the flexible crawler member (301).

6. The crawler chassis according to claim 5, characterized in that, The crawler chassis is provided with a support member (302), the support member (302) is arranged on the chassis bracket (100) and is connected to the driving wheel (304) and the driven wheel (305).

7. The crawler chassis according to claim 6, characterized in that, The driving wheel (304) is fixedly connected to the chassis bracket (100), the chassis bracket (100) is provided with a fixing portion (101), one end of the support member (302) is fixed to the fixing portion (101), and the other end abuts against the driven wheel (305), and the support member (302) is used to provide tension for the flexible crawler member (301).

8. The crawler chassis according to claim 5, characterized in that, The geometric center of the negative pressure chamber (201) is set lower than the geometric center of the driving wheel (304); and / or, the geometric center of the negative pressure chamber (201) is set lower than the geometric center of the driven wheel (305).

9. The crawler chassis according to claim 1, wherein, The crawler chassis is provided with a sealing layer, and the sealing layer is arranged between the flexible crawler member (301) and the negative pressure member.

10. A cleaning robot, characterized in that, The cleaning robot includes: the crawler chassis according to any one of claims 1-9.

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