Wall surface cleaning robot

Abstract

The wall cleaning robot comprises a chassis mechanism, a magnetic attraction mechanism, a turnover mechanism, a lifting mechanism and an execution mechanism, the chassis mechanism comprises a driving wheel assembly and a driven wheel assembly; the magnetic attraction mechanism comprises a first magnetic attraction assembly and a second magnetic attraction assembly, the first magnetic attraction assembly is movably connected between the two driving wheels, and the second magnetic attraction assembly is movably connected between the two driven wheels; when the swing arm swings to touch the travel switch assembly, the turnover motor stops rotating to limit the swing range of the swing arm; the lifting mechanism comprises a parallelogram linkage assembly and an air spring assembly; the execution motor drives the first output shaft and the second output shaft to rotate in opposite directions through a reduction box, so as to drive the universal joint assembly to drive the brush disc assembly to rotate and realize cleaning work. The wall cleaning robot can replace manual wall cleaning, greatly reduces the safety risk of workers working in dangerous environments, and effectively protects the safety of workers.

Description

Technical Field

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

[0002] During operation, a ship's hull is constantly submerged in water, making it susceptible to mud, microorganisms, and other contaminants. This accumulation of dirt and organisms negatively impacts navigation efficiency and can lead to rust, damaging the hull structure. Therefore, ships require regular cleaning and repainting to improve navigation efficiency and protect the structure. However, cleaning and painting typically require manual labor in a dry dock, which is not only costly in terms of manpower and resources but also affects the ship's operating revenue. Furthermore, outdoor equipment such as wind turbine towers and large cranes also accumulate dust and rust over time, requiring regular maintenance. Manual work at height poses significant safety risks. Summary of the Invention

[0003] This disclosure provides a wall cleaning robot to at least solve the above-mentioned technical problems existing in the prior art.

[0004] The wall cleaning robot disclosed herein includes:

[0005] The chassis mechanism includes a drive wheel assembly and a driven wheel assembly. The drive wheel assembly includes a drive motor housing and two drive wheels connected to the drive motor housing. The driven wheel assembly includes a mounting frame and two driven wheels disposed on the mounting frame. The mounting frame is fixedly connected to the drive motor housing.

[0006] The magnetic attraction mechanism includes a first magnetic attraction component and a second magnetic attraction component, wherein the first magnetic attraction component is movably connected between the two driving wheels, and the second magnetic attraction component is movably connected between the two driven wheels;

[0007] The flipping mechanism includes a base, a flipping motor, a reducer, a swing arm, and a limit switch assembly. The reducer is mounted on the base and connected to the swing arm. The limit switch assembly is mounted on the base and electrically connected to the flipping motor. When the swing arm swings and triggers the limit switch assembly, the flipping motor stops rotating to limit the swing range of the swing arm. The mounting bracket of the driven wheel assembly is provided with a slot, and the base is quickly assembled with the chassis mechanism through the slot.

[0008] A lifting mechanism includes a parallelogram linkage assembly and a gas spring assembly. The gas spring assembly is installed diagonally across the parallelogram linkage assembly, and one end of the parallelogram linkage assembly is fixedly connected to the swing arm.

[0009] An actuator is fixedly connected to the other end of the parallelogram linkage assembly. The actuator includes an actuator motor, a gearbox, two sets of universal joint assemblies, and two sets of brush disc assemblies. The gearbox includes a housing, an input shaft, a first output shaft, and a second output shaft. The actuator motor is connected to the input shaft. The first output shaft and the second output shaft extend from the housing and are respectively connected to the two sets of universal joint assemblies. The brush disc assembly is connected to the universal joint assembly.

[0010] The actuator motor drives the first output shaft and the second output shaft to rotate in opposite directions through the gearbox, thereby driving the universal joint assembly to rotate the brush assembly to achieve the cleaning operation; the first output shaft and the second output shaft are hollow structures, used to supply water to the brush assembly.

[0011] The parallelogram linkage assembly includes a connecting plate, a lifting plate, and two sets of parallel linkage pairs. The connecting plate is rigidly connected to the swing arm, and the lifting plate is fixedly connected to the actuator. Each set of parallel linkage pairs includes two links, and the two ends of each link are rotatably connected to the corresponding sides of the connecting plate and the lifting plate, respectively. The two sets of parallel linkage pairs are configured to maintain the spatial parallelism between the lifting plate and the connecting plate through the synchronous rotation of the links when the swing arm's posture changes.

[0012] In one embodiment, a first sprocket and a second sprocket are provided on the input shaft, and a third sprocket is provided on the first output shaft. The first sprocket and the third sprocket are connected by a first chain.

[0013] A first gear is provided on the second output shaft, and a rotating shaft is provided on the side of the second output shaft. A second gear and a fourth sprocket are provided on the rotating shaft. The second sprocket and the fourth sprocket are connected by a second chain, and the second gear meshes with the first gear.

[0014] The first chain has a first tensioning component on its transmission path, and the second chain has a second tensioning component on its transmission path.

[0015] In one embodiment, the first tensioning assembly includes a first tensioning block, a first tensioning portion, a first spring, and two first limiting posts. The first tensioning portion and the first tensioning block are perpendicular to each other, and the first limiting posts are installed at the bottom of the housing.

[0016] The first tensioning block has a first blind hole and two first waist-shaped holes that are parallel to each other. The two first limiting posts are respectively inserted into the two first waist-shaped holes. One end of the first spring is placed in the first blind hole, and the other end extends out of the first blind hole and abuts against the inner wall of the box. The first chain abuts against the first tensioning part.

[0017] The second tensioning assembly includes a second tensioning block, a second tensioning part, a second spring, and two second limiting posts. The second tensioning part and the second tensioning block are perpendicular to each other, and the second limiting posts are installed at the bottom of the housing.

[0018] The second tensioning block has two parallel blind holes and two second waist-shaped holes. The two second limiting posts are respectively inserted into the two second waist-shaped holes. One end of the second spring is placed in the second blind hole, and the other end extends out of the second blind hole and abuts against the inner wall of the box. The second chain abuts against the second tensioning part.

[0019] In one possible embodiment, sealing components are respectively provided on the first end of the first output shaft and the first end of the second output shaft;

[0020] The sealing assembly includes a housing, a sealing ring, and a nylon ring. The housing has a first through hole, and the inner wall of the first through hole has a groove and a threaded structure. The sealing ring and the nylon ring are assembled in the groove, and the threaded structure is used to connect with the water inlet pipe.

[0021] In one embodiment, the universal joint assembly includes an upper cover, a lower cover, a spherical structure, a bushing, steel balls, and a flange;

[0022] The upper cover and the lower cover are fastened together to form a spherical cavity for accommodating the spherical structure and a hemispherical cavity for accommodating the steel ball;

[0023] The spherical structure has a groove on its outer periphery, which extends along the equator of the spherical structure. The steel ball is assembled between the groove and the hemispherical cavity. The spherical structure also has a second through hole, which is used to fix the second end of the first output shaft or the second end of the second output shaft.

[0024] The flange is fixedly connected to the spherical structure, and the brush assembly is mounted on the flange;

[0025] The bushing is located between the upper cover and the spherical structure, and between the lower cover and the spherical structure.

[0026] In one embodiment, the driven wheel assembly further includes a swing frame, the driven wheel is fixed to the mounting frame via the swing frame, the driven wheel is rotatable about the driven wheel axis of the driven wheel and is oscillating about the swing axis of the swing frame; wherein the swing axis and the driven wheel axis satisfy the perpendicular condition.

[0027] In one embodiment, the driven wheel is provided with a plurality of rollers.

[0028] In one embodiment, the reducer includes an input end and two output ends, the reversing motor is keyed to the input end, and there are two swing arms, with each swing arm correspondingly connected to one of the two output ends.

[0029] In one embodiment, the upper cover is provided with a threaded hole, and an oil injection nozzle is installed in the threaded hole.

[0030] In this disclosure, the wall cleaning robot can stably adhere to the wall surface for automated operation through a magnetic attraction mechanism. Since the first and second magnetic attraction components are movably connected to the drive wheel assembly and driven wheel assembly respectively, the magnetic attraction force of the first and second magnetic attraction components is adjustable. This allows the robot to operate stably on walls of different materials and under different working conditions, enhancing the equipment's adaptability. The gas spring assembly of the lifting mechanism generates constant pressure on the wall surface, adapting to changes in wall height and ensuring uniform and stable cleaning results. The reverse rotation design of the brush assembly counteracts torque, ensuring stable robot movement, improving cleaning accuracy, and more thoroughly removing dirt and rust from the wall surface. Therefore, the wall cleaning robot of this disclosure can replace manual wall cleaning, greatly reducing the safety risks for workers operating in hazardous environments and effectively protecting their lives. Compared to manual cleaning, the wall cleaning robot can move and operate quickly on the wall surface and can work continuously, significantly shortening cleaning time, improving cleaning efficiency, reducing downtime for cleaning, and minimizing the impact on production and operations.

[0031] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0032] The above and other objects, features, and advantages of this disclosure will become readily apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. Several embodiments of this disclosure are illustrated in the drawings by way of example and not limitation, in which:

[0033] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0034] Figure 1 A schematic diagram of the overall structure of the wall cleaning robot according to an exemplary embodiment of the present disclosure is shown;

[0035] Figure 2 A schematic diagram of the drive wheel assembly of a wall cleaning robot according to an exemplary embodiment of the present disclosure is shown;

[0036] Figure 3 A schematic diagram of the driven wheel assembly of a wall cleaning robot according to an exemplary embodiment of the present disclosure is shown;

[0037] Figure 4 A schematic diagram of the flipping mechanism of the wall cleaning robot according to an exemplary embodiment of the present disclosure is shown;

[0038] Figure 5 A schematic diagram of the mating structure of the drive wheel assembly and driven wheel assembly of the wall cleaning robot of an exemplary embodiment of the present disclosure is shown;

[0039] Figure 6 A schematic diagram of the lifting mechanism of a wall cleaning robot according to an exemplary embodiment of the present disclosure is shown;

[0040] Figure 7 A schematic diagram of the cooperation structure between the actuator and the lifting mechanism of the wall cleaning robot of the present disclosure is shown;

[0041] Figure 8 A schematic diagram of the internal structure of the gearbox of the wall cleaning robot of the present disclosure is shown;

[0042] Figure 9 A schematic diagram of the structure of the first tensioning assembly of the wall cleaning robot according to an exemplary embodiment of the present disclosure is shown;

[0043] Figure 10 A cross-sectional view of the sealing assembly of a wall cleaning robot according to an exemplary embodiment of the present disclosure is shown;

[0044] Figure 11 A schematic diagram of the universal joint assembly of a wall cleaning robot according to an exemplary embodiment of the present disclosure is shown;

[0045] Figure 12 A cross-sectional view of the universal joint assembly of a wall cleaning robot according to an exemplary embodiment of the present disclosure is shown.

[0046] Explanation of the numbers in the diagram: 1. Drive wheel assembly; 2. Driven wheel assembly; 3. Magnetic attraction mechanism; 4. Tilting mechanism; 5. Lifting mechanism; 6. Actuator; 7. Sealing assembly; 11. Drive motor compartment; 12. Drive wheel; 13. Bracket; 21. Mounting bracket; 22. Driven wheel; 23. Driven wheel shaft; 24. Swing frame; 25. Swing shaft; 26. Slot; 31. First magnetic attraction assembly; 32. Second magnetic attraction assembly; 33. Union bolt; 34. Nut; 41. Base; 4 2. Tilting motor; 43. Reducer; 44. Swing arm; 45. Limit switch assembly; 51. Parallelogram linkage assembly; 52. Gas spring assembly; 61. Actuator motor; 62. Gearbox; 63. Universal joint assembly; 64. Brush plate assembly; 71. Housing; 72. Sealing ring; 73. Nylon ring; 74. Water inlet pipe; 221. Roller; 451. First limit switch; 452. Second limit switch; 511. Connecting plate; 512. Lifting plate; 513. Parallel... Linkage pair; 620, housing; 621, housing cover; 622, input shaft; 622a, first sprocket; 622b, second sprocket; 623, first output shaft; 623a, third sprocket; 624, second output shaft; 624a, first gear; 625, first chain; 626, pivot; 626a, second gear; 626b, fourth sprocket; 627, second chain; 628, first tensioning assembly; 629, second tensioning assembly; 631, top cover; 63 2. Lower cover; 633. Spherical structure; 633a. Groove; 633b. Second through hole; 634. Bushing; 635. Steel ball; 636. Flange; 637. Oil nozzle; 710. First through hole; 710a. Groove; 710b. Threaded structure; 5131. Connecting rod; 6281. First tensioning block; 6281a. First blind hole; 6281b. First oblong hole; 6282. First tensioning part; 6283. First spring; 6284. First limiting post. Detailed Implementation

[0047] To make the objectives, features, and advantages of this disclosure more apparent and understandable, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0048] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0049] Reference Figures 1-8As shown, an exemplary embodiment of this disclosure discloses a wall cleaning robot including a chassis mechanism, a magnetic suction mechanism 3, a flipping mechanism 4, a lifting mechanism 5, and an execution mechanism 6. The chassis mechanism includes a drive wheel assembly 1 and a driven wheel assembly 2. The drive wheel assembly 1 includes a drive motor housing 11 and two drive wheels 12 connected to the drive motor housing 11. The driven wheel assembly 2 includes a mounting frame 21 and two driven wheels 22 disposed on the mounting frame 21. The mounting frame 21 is fixedly connected to the drive motor housing 11. The magnetic suction mechanism 3 includes a first magnetic suction component 31 and a second magnetic suction component 32. The first magnetic suction component 31 is movably connected between the two drive wheels 12, and the second magnetic suction component 32 is movably connected between the two driven wheels 22. The tilting mechanism 4 includes a base 41, a tilting motor 42, a reducer 43, a swing arm 44, and a limit switch assembly 45. The reducer 43 is mounted on the base 41 and connected to the swing arm 44. The limit switch assembly 45 is mounted on the base 41 and electrically connected to the tilting motor 42. When the swing arm 44 swings and triggers the limit switch assembly 45, the tilting motor 42 stops rotating to limit the swing range of the swing arm 44. The lifting mechanism 5 includes a parallelogram linkage assembly 51 and a gas spring assembly 52. ​​The gas spring assembly 52 is installed diagonally on the parallelogram linkage assembly 51. One end of the parallelogram linkage assembly 51 is fixedly connected to the swing arm 44, and the actuator 6 is fixedly connected to the other end of the parallelogram linkage assembly 51. The actuator 6 includes an actuator motor 61, a gearbox 62, two sets of universal joint assemblies 63, and two sets of brush assembly 64. The gearbox 62 includes a housing 620, an input shaft 622, a first output shaft 623, and a second output shaft 624. The actuator motor 61 is connected to the input shaft 622. The first output shaft 623 and the second output shaft 624 extend from the housing 620 and are respectively connected to the two sets of universal joint assemblies 63. The brush assembly 64 is connected to the universal joint assembly 63. The actuator motor 61 drives the first output shaft 623 and the second output shaft 624 to rotate in opposite directions via the gearbox 62, thereby driving the universal joint assembly 63 to rotate the brush assembly 64 to achieve the cleaning operation.

[0050] In this embodiment, the chassis mechanism is the basic support and moving component of the wall cleaning robot (hereinafter referred to as the robot), and consists of a drive wheel assembly 1 and a driven wheel assembly 2. The drive wheel assembly 1 includes a bracket 13, a drive motor housing 11, and two drive wheels 12 connected to the drive motor housing 11. The drive motor is installed inside the drive motor housing 11, and the output shaft of the drive motor is fixedly connected to the drive wheels 12, providing the wall cleaning robot with the power for forward, backward, and turning. The two driven wheels 22 are mounted on a mounting frame 21, and the mounting frame 21 is firmly fixed to the drive motor housing 11, so that the drive wheels 12 and the driven wheels 22 work together to support the overall weight of the robot and achieve stable movement. In actual operation, when the drive motor starts, the drive wheels 12 begin to rotate, driving the robot to move on the wall, while the driven wheels 22 play an auxiliary support and guiding role to ensure that the robot moves smoothly. The adsorption mechanism is crucial for stable adsorption on the wall surface. The adsorption mechanism consists of a first magnetic adsorption component 31 and a second magnetic adsorption component 32, both of which are neodymium iron boron magnets. One end of the first magnetic adsorption component 31 is rigidly hinged to the bracket 13 of the drive wheel assembly 1 via a pin, forming a stable rotation fulcrum. The other end of the first magnetic adsorption component 31 is connected to the pin via a swivel bolt 33, and is fitted with a nut 34 to form an adjustable structure. When the operator rotates the nut 34, the swivel bolt 33 is displaced axially, causing the first magnetic adsorption component 31 to rotate around the pin, thereby changing the distance between the first magnetic adsorption component 31 and the working surface. By precisely controlling this distance parameter, the intensity of the magnetic force can be linearly adjusted. Similarly, the movable connection between the second magnetic component 32 and the driven wheel component 2 is the same as that between the first magnetic component 31 and the drive wheel component 1. Specifically, one end of the second magnetic component 32 is rigidly hinged to the mounting bracket 21 of the driven wheel component 2 via a pin, forming a stable rotation fulcrum. The other end of the second magnetic component 32 is connected to the pin via a swivel bolt, and a nut is provided to form an adjustable structure. The adjustment method for the magnetic attraction strength of the second magnetic component 32 is the same as that for the first magnetic component 31, and will not be elaborated further here. Therefore, operators can flexibly adjust the magnetic attraction strength of the first magnetic component 31 and the second magnetic component 32 according to the material and working conditions of different work surfaces, ensuring stable adsorption while avoiding excessive attraction that could affect movement or damage the work surface.

[0051] In this embodiment, the tilting mechanism 4 mainly consists of a base 41, a tilting motor 42, a reducer 43, a swing arm 44, and a limit switch assembly 45. The reducer 43 is mounted on the base 41, and its output shaft is connected to the swing arm 44. The tilting motor 42 provides power to the reducer 43, driving the swing arm 44 to swing around the output shaft of the reducer 43. The limit switch assembly 45 is located on the base 41 and is a safety control component of the tilting mechanism 4. When the swing arm 44 triggers the limit switch assembly 45 during swinging, the limit switch assembly 45 immediately transmits a signal to the control system. After receiving the signal, the control system quickly controls the tilting motor 42 to stop rotating, thereby limiting the swing range of the swing arm 44. Specifically, the limit switch assembly 45 includes a first limit switch 451 and a second limit switch 452. The first limit switch 451 and the second limit switch 452 are respectively located at both ends of the motion trajectory of the swing arm 44 during its reciprocating swing. At the instant the front end of the swing arm 44 triggers the first limit switch 451 or the rear end of the swing arm 44 triggers the second limit switch 452, a sudden change in electrical signal occurs at the internal contacts of the first limit switch 451 or the second limit switch 452. This design effectively avoids excessive swinging of the swing arm 44, prevents the actuator 6 from colliding with the wall or other objects, protects the components of the wall cleaning robot, and ensures the stability and reliability of the cleaning operation. The lifting mechanism 5 adopts a design combining a parallelogram linkage assembly 51 and a gas spring assembly 52. ​​During operation, when the swing arm 44 drives the lifting mechanism 5, the parallelogram linkage assembly 51 ensures that the lifting movement of the lifting mechanism 5 is smooth and directionally stable. The gas spring assembly 52 plays an important role in buffering and pressure regulation. When the actuator 6 descends to contact the working wall, the resistance provided by the gas spring can enable the actuator 6 to apply a constant pressure to the wall, ensuring a uniform cleaning effect. At the same time, if there are certain undulations in the wall, the gas spring can adaptively adjust within a certain range, so that the actuator 6 always maintains good contact with the wall, improving the cleaning quality.

[0052] In this embodiment, the reduction gearbox 62 of the actuator 6, as a key component for power transmission and conversion, includes a housing 620, an input shaft 622, a first output shaft 623, and a second output shaft 624. The actuator motor 61 is connected to the input shaft 622, providing power to the entire actuator 6. After the actuator motor 61 starts, power is transmitted to the reduction gearbox 62 through the input shaft 622. Under the action of the reduction gearbox 62, the first output shaft 623 and the second output shaft 624 rotate in opposite directions. Since the first output shaft 623 and the second output shaft 624 are respectively connected to two sets of universal joint assemblies 63, and the universal joint assemblies 63 are connected to the brush assembly 64, the two sets of brush assemblies 64 rotate in opposite directions under drive. The reverse rotation of the brush assembly 64 can effectively counteract the torque generated by the rotation of the brush assembly 64, preventing the robot from deflecting due to torque during the cleaning operation, ensuring the robot's walking stability, and improving cleaning accuracy.

[0053] Furthermore, the mounting bracket 21 of the driven wheel assembly 2 is equipped with a slot 26, allowing the base 41 of the flipping mechanism 4 to be quickly assembled with the chassis mechanism via the slot 26. This design not only improves the robot's assembly efficiency but also provides excellent adaptability, allowing the installation of different types and specifications of actuators 6. This gives the robot chassis mechanism strong versatility, enabling it to carry various functional actuators 6 to meet different operational needs. For example, in addition to cleaning operations, it can also carry actuators 6 for detection, spraying, and other tasks, expanding the robot's application range.

[0054] In summary, the wall cleaning robot of this disclosure can stably adhere to the wall surface for automated operation by setting up a magnetic suction mechanism 3. Furthermore, since the first magnetic suction component 31 and the second magnetic suction component 32 are movably connected to the drive wheel component 1 and the driven wheel component 2 respectively, the magnetic attraction force of the first magnetic suction component 31 and the second magnetic suction component 32 is adjustable. This allows the robot to operate stably on walls of different materials and working conditions, enhancing the adaptability of the equipment. The gas spring component 52 of the lifting mechanism 5 generates constant pressure on the wall surface through the actuator 6, adapting to changes in wall height and ensuring uniform and stable cleaning results. The reverse rotation design of the brush assembly 64 counteracts torque, ensuring stable robot movement, improving cleaning accuracy, and more thoroughly removing dirt and rust from the wall surface. Therefore, the wall cleaning robot of this disclosure can replace manual wall cleaning, greatly reducing the safety risks for workers operating in hazardous environments and effectively protecting their lives. Compared to manual cleaning, wall cleaning robots can move and work quickly on walls and can work continuously, which greatly shortens cleaning time, improves cleaning efficiency, reduces downtime caused by cleaning, and reduces the impact on production and operation.

[0055] Reference Figure 8As shown, in one embodiment, a first sprocket 622a and a second sprocket 622b are provided on the input shaft 622, and a third sprocket 623a is provided on the first output shaft 623. The first sprocket 622a and the third sprocket 623a are connected by a first chain 625. A first gear 624a is provided on the second output shaft 624, and a rotating shaft 626 is provided beside the second output shaft 624. A second gear 626a and a fourth sprocket 626b are synchronously mounted on the rotating shaft 626. The second sprocket 622b and the fourth sprocket 626b are connected by a second chain 627, and the second gear 626a meshes with the first gear 624a. A first tensioning component 628 is provided on the transmission path of the first chain 625, and a second tensioning component 629 is provided on the transmission path of the second chain 627.

[0056] In this embodiment, the motor 61 drives the input shaft 622 to rotate, causing the first sprocket 622a on the input shaft 622 to rotate. This rotation, via the first chain 625, drives the third sprocket 623a on the first output shaft 623 to rotate, thus causing the first output shaft 623 to rotate in the same direction as the input shaft 622. Simultaneously, the second sprocket 622b on the input shaft 622 also rotates with the input shaft 622, driving the fourth sprocket 626b on the rotating shaft 626 to rotate via the second chain 627, causing the rotating shaft 626 to rotate in the same direction as the input shaft 622. When the second gear 626a on the rotating shaft 626 rotates with the rotating shaft 626, the second gear 626a meshes with the first gear 624a on the second output shaft 624, thereby driving the second output shaft 624 to rotate. The rotation direction of the second output shaft 624 is opposite to the rotation direction of the rotating shaft 626, and therefore also opposite to the rotation direction of the first output shaft 623. This transmission method satisfies the requirement of the two sets of brush disc assemblies 64 rotating in opposite directions, effectively counteracting the torque generated by the rotation of the brush discs and ensuring the robot's walking stability and cleaning accuracy during the cleaning process. To ensure the stability and reliability of the chain drive, a first tensioning assembly 628 is set on the transmission path of the first chain 625, and a second tensioning assembly 629 is set on the transmission path of the second chain 627. By setting the first tensioning assembly 628 and the second tensioning assembly 629, problems such as noise and damage to parts caused by friction between the first chain 625 and the second chain 627 and other components due to loosening during operation can be effectively prevented. This greatly improves the stability and reliability of the gearbox 62 transmission system, extends the service life of the equipment, and ensures the efficient operation of the wall cleaning robot.

[0057] Specifically, refer to Figure 9As shown, in one embodiment, the first tensioning assembly 628 includes a first tensioning block 6281, a first tensioning portion 6282, a first spring 6283, and two first limiting posts 6284. The first tensioning portion 6282 is perpendicular to the first tensioning block 6281, and the first limiting posts 6284 are installed at the bottom of the housing 620. The second tensioning assembly 629 includes a second tensioning block, a second tensioning portion, a second spring, and two second limiting posts. The second tensioning portion is perpendicular to the second tensioning block, and the second limiting posts are installed at the bottom of the housing 620. The first tensioning block 6281 has parallel first blind holes 6281a and two first oblong holes 6281b. Two first limiting posts 6284 are respectively inserted into the two first oblong holes 6281b. One end of the first spring 6283 is placed in the first blind hole 6281a, and the other end extends out of the first blind hole 6281a and abuts against the inner wall of the housing 620. The first chain 625 abuts against the first tensioning part 6282. The second tensioning block has parallel second blind holes and two second oblong holes. Two second limiting posts are respectively inserted into the two second oblong holes. One end of the second spring is placed in the second blind hole, and the other end extends out of the second blind hole and abuts against the inner wall of the housing 620. The second chain 627 abuts against the second tensioning part.

[0058] In this embodiment, the side of the first tensioning part 6282 away from the first tensioning block 6281 abuts against the inner wall of the housing 620. Under the action of the first spring 6283, the first tensioning block 6281 always tends to move in the direction of spring extension. Due to the cooperation between the first limiting post 6284 and the first oblong hole 6281b, the first tensioning block 6281 can only slide within a certain range. When the first chain 625 becomes loose during operation, the first spring 6283 pushes the first tensioning block 6281, so that the side of the first tensioning part 6282 near the first tensioning block 6281 applies pressure to the first chain 625, thereby ensuring that the first chain 625 is always in a taut state and preventing the first chain 625 from rubbing against other components to generate noise or damage to parts. Similarly, the side of the second tensioning part away from the second tensioning block abuts against the inner wall of the housing 620. Under the action of the second spring, the second tensioning block can tension the second chain 627 on the side of the second tensioning part closest to the second tensioning block, ensuring the stable operation of the second chain 627. Both the first tensioning part 6282 and the second tensioning part are convex arc-shaped to ensure that the first chain 625 and the second chain 627 are always in a taut state. Understandably, the length of the first oblong hole 6281b should be greater than the maximum diameter of the first limiting post 6284, so that the first oblong hole 6281b and the first limiting post 6284 can slide relative to each other. The first limiting post 6284 is also provided with a limiting screw to longitudinally limit the first tensioning block 6281, ensuring that the first tensioning assembly 628 can only slide within the housing 620. The length of the second oblong hole should be greater than the maximum diameter of the second limiting post, so that the second oblong hole and the second limiting post can slide relative to each other. The second limiting post is also provided with a limiting screw to longitudinally limit the second tensioning block, ensuring that the second tensioning assembly 629 can only slide within the housing 620.

[0059] Reference Figure 10 As shown, in one embodiment, the first output shaft 623 and the second output shaft 624 are hollow structures used to supply water to the brush assembly 64. Sealing components 7 are respectively provided on the first end of the first output shaft 623 and the first end of the second output shaft 624. The sealing component 7 includes a housing 71, a sealing ring 72, and a nylon ring 73. The housing 71 has a first through hole 710, and the inner wall of the first through hole 710 has a groove 710a and a threaded structure 710b. The sealing ring 72 and the nylon ring 73 are assembled in the groove 710a, and the threaded structure 710b is used to connect to the water inlet pipe 74.

[0060] In this embodiment, the housing 71 of the sealing assembly 7 is connected to the cover 621 of the gearbox 62 by screws and is disposed outside the gearbox 62. The sealing ring 72 is specifically an O-ring, and the nylon ring 73 can specifically be a rectangular nylon ring. The sealing rings 72 and nylon ring 73 only need to meet the sealing effect and can be adapted according to actual needs. The sealing rings 72 and nylon ring 73 are sequentially assembled into the groove 710a. It should be noted that the inner diameter of the groove 710a needs to be smaller than the outer diameter of the sealing ring 72, the inner diameter of the sealing ring 72 is the same as the outer diameter of the nylon ring 73, and the inner diameter of the nylon ring 73 is smaller than the outer diameter of the first output shaft 623 or the second output shaft 624. Taking the first output shaft 623 as an example, when the first end of the first output shaft 623 is assembled with the nylon ring 73, the first output shaft 623 pushes the nylon ring 73 outward, and the nylon ring 73 squeezes the sealing ring 72. Through this tight fit and compression, the effect of preventing water leakage from the gap between the sealing assembly 7 and the first end of the first output shaft 623 is achieved. During the water supply process, the water inlet pipe 74 is first fastened to the threaded mechanism on the housing 71 of the sealing assembly 7. The cleaning water can enter the housing 71 through the water inlet pipe 74, and then enter the brush assembly 64 through the hollow structure of the first output shaft 623, thus achieving the cleaning operation in conjunction with the rotation of the brush assembly 64. Since the second output shaft 624 is assembled with the sealing assembly 7 in the same way, it will not be described in detail here.

[0061] Reference Figure 11 and Figure 12 As shown, in one embodiment, the universal joint assembly 63 includes an upper cover 631, a lower cover 632, a spherical structure 633, a bushing 634, a steel ball 635, and a flange 636. The upper cover 631 and the lower cover 632 are fastened together to form a spherical cavity for accommodating the spherical structure 633 and a hemispherical cavity for accommodating the steel ball 635. A groove 633a is formed on the outer periphery of the spherical structure 633, extending along the equator of the spherical structure 633. The steel ball 635 is assembled between the groove 633a and the hemispherical cavity. The spherical structure 633 also has a second through hole 633b, which is used to fix the second end of the first output shaft 623 or the second end of the second output shaft 624, so that the first output shaft 623 or the second output shaft 624 can drive the spherical structure 633 to rotate. Flange 636 is fixedly connected to spherical structure 633, brush assembly 64 is installed on flange 636, and bushing 634 is located between upper cover 631 and spherical structure 633, and between lower cover 632 and spherical structure 633.

[0062] In this embodiment, there are two hemispherical cavities, and correspondingly, there are also two steel balls 635. Two grooves 633a extend along the equator from the outer periphery of the spherical structure 633. The shape of the grooves 633a is the trajectory formed by the center of the steel ball 635 moving at a certain angle along the meridian of the spherical structure 633 with the equator as its midpoint. It can be understood that the steel ball 635 is stationary relative to the upper cover 631 and the lower cover 632, and can move relative to the spherical structure 633 along the trajectory of the grooves 633a. The steel ball 635 can rotate within the hemispherical cavity. Due to the cooperation between the grooves 633a on the outer periphery of the spherical structure 633 and the steel ball 635, and the mobility of the steel ball 635 between the hemispherical cavity and the grooves 633a, the brush assembly 64 can flexibly adjust its angle with the spherical structure 633, ensuring that the brush always maintains good contact with the wall surface and guaranteeing the cleaning effect. The bushing 634 is located between the upper cover 631 and the spherical structure 633, and also between the lower cover 632 and the spherical structure 633. It prevents the spherical structure 633 from rubbing against the upper cover 631 and the lower cover 632 during movement. Simultaneously, the bushing 634 is in close contact with the upper cover 631, the lower cover 632, and the spherical structure 633, forming a sealed cavity.

[0063] Furthermore, in one embodiment, the upper cover 631 is provided with a threaded hole, and an oil injection nozzle 637 is installed in the threaded hole.

[0064] In this embodiment, grease can be added through the grease nipple 637. The grease fills the space between the spherical cavity formed by the upper cover 631 and the lower cover 632 and the spherical structure 633, providing lubrication for the movement of the spherical structure 633, reducing friction and wear. Under the action of the bushing 634, the grease cannot overflow out of the spherical cavity.

[0065] In summary, the gas spring assembly 52 of the lifting mechanism 5 ensures constant pressure on the wall surface by the actuator 6, the reverse rotation design of the brush disc offsets the torque, the water supply and sealing structure ensures a stable supply of cleaning water, and the universal joint assembly 63 allows the brush disc assembly 64 to flexibly adapt to changes in the wall angle. These factors work together to make the cleaning effect uniform and stable, thus improving the cleaning quality.

[0066] In one embodiment, the parallelogram linkage assembly 51 includes a connecting plate 511, a lifting plate 512, and two sets of parallel linkage pairs 513. The connecting plate 511 is rigidly connected to the swing arm 44, the lifting plate 512 is fixedly connected to the actuator 6, and each set of parallel linkage pairs 513 includes two connecting rods 5131, with both ends of each connecting rod 5131 rotatably connected to corresponding sides of the connecting plate 511 and the lifting plate 512, respectively. The two sets of parallel linkage pairs 513 are configured to maintain the spatial parallelism between the lifting plate 512 and the connecting plate 511 through the synchronous rotation of the connecting rods 5131 when the attitude of the swing arm 44 changes.

[0067] In this embodiment, circular holes are provided at the four corners of the connecting plate 511 and the lifting plate 512. The two ends of each connecting rod 5131 are rotatably connected to the circular holes on the connecting plate 511 and the lifting plate 512 respectively via cylindrical pins. The two sets of parallel connecting rod pairs 513 are configured such that when the swing arm 44 changes posture, the synchronous rotation of the connecting rods 5131 maintains the spatial parallelism between the lifting plate 512 and the connecting plate 511. That is, when the connecting plate 511 is fixed, the lifting plate 512 can only move up and down parallel to the connecting plate 511. A gas spring assembly 52 is installed at the diagonal position of the parallelogram connecting rod assembly 51. The two ends of the gas spring assembly 52 are connected to the connecting plate 511 and the lifting plate 512 respectively via cylindrical pins. Under the action of the gas spring assembly 52, there is a certain resistance when the lifting plate 512 moves upward, thereby ensuring that the actuator 6 installed on the lifting plate 512 can generate constant pressure on the working surface and can adapt to changes in the height of the working surface within a certain range.

[0068] Reference Figure 3 As shown, in one embodiment, the driven wheel assembly 2 further includes a swing frame 24, the driven wheel 22 is fixed to the mounting frame 21 through the swing frame 24, the driven wheel 22 can rotate around the driven wheel shaft 23 of the driven wheel 22 and can swing around the swing axis 25 of the swing frame 24; wherein the swing axis 25 and the driven wheel shaft 23 satisfy the perpendicular condition.

[0069] Furthermore, in one embodiment, the driven wheel 22 is provided with a plurality of rollers 221.

[0070] In this embodiment, the driven wheel 22 is connected to the swing frame 24 via the driven wheel shaft 23. The swing frame 24 is fixed to the mounting frame 21 via the swing shaft 25. Under the action of the swing shaft 25, the two drive wheels 12 and the two driven wheels 22 can always be in contact with the working surface. At the same time, the mounting frame 21 and the drive motor compartment 11 are fixed together with screws, so that the drive wheel assembly 1 and the driven wheel assembly 2 are assembled into the chassis mechanism of the robot. The driven wheel 22 is provided with multiple rollers 221, so that the driven wheel 22 can realize both lateral movement and rolling movement under the drive of the drive wheel 12, thereby realizing the forward, backward and turning movements of the robot chassis mechanism.

[0071] Reference Figure 4 As shown, in one embodiment, the reducer 43 includes an input end and two output ends. The flip motor 42 is keyed to the input end, and there are two swing arms 44, which are respectively connected to the two output ends.

[0072] In this embodiment, the reducer 43 adopts a worm gear transmission type, with an input end and two output ends, which are located on the same straight line and are double-sided outputs. This reducer 43 has a certain self-locking force and can remain stable even when subjected to a large torque at the output end. The tilting motor 42 is connected to the input end of the reducer 43 via a key, providing power to the tilting mechanism 4. The two swing arms 44 are respectively connected to the two output ends of the reducer 43. Driven by the tilting motor 42, the swing arms 44 can swing up and down around the output end of the reducer 43.

[0073] In this disclosure, taking the cleaning operation of a ship's outer plating as an example, the operator first adjusts the magnetic attraction force of the first magnetic attraction component 31 and the second magnetic attraction component 32 on the ship's outer plating by rotating the nuts 34 on the corresponding live bolts 33 on the first magnetic attraction component 31 and the second magnetic attraction component 32, based on the material and degree of corrosion of the ship's outer plating, to ensure that the robot is stably attached to the wall surface. After the robot is started, the drive motor drives the drive wheel 12 to rotate, and the robot chassis mechanism moves along the surface of the ship's outer plating to the designated cleaning area under the coordinated action of the drive wheel 12 and the driven wheel 22. After reaching the cleaning area, the control system starts the tilting motor 42 of the tilting mechanism 4. The tilting motor 42 drives the input end of the reducer 43 to rotate through a key connection. Due to the worm gear transmission structure of the reducer 43, the two output ends drive the swing arm 44 connected to it to swing up and down around the output shaft of the reducer 43. During the swinging process, the swing arm 44 drives the lifting mechanism 5 and the actuator 6 connected to it to move. As the swing arm 44 swings downward, the parallelogram linkage assembly 51 of the lifting mechanism 5 moves synchronously, causing the lifting plate 512 to descend smoothly. The actuator 6, mounted on the lifting plate 512, gradually approaches the surface of the ship's outer plating. When the actuator 6 approaches the wall, the gas spring assembly 52 begins to function, providing constant pressure to the actuator 6, ensuring close contact between the brush assembly 64 and the surface of the ship's outer plating. Next, the actuator motor 61 of the actuator 6 is activated, and power is transmitted via the reduction gearbox 62, causing the two sets of brush assemblies 64 to rotate in opposite directions. Simultaneously, the water inlet pipe 74 is connected to the threaded structure 710b on the housing 71 of the sealing assembly 7, allowing cleaning water to enter the brush assembly 64 and, in conjunction with the rotation of the brushes, clean the ship's outer plating. During the cleaning process, if the swing arm 44 swings to near its limit position and touches the first limit switch 451 or the second limit switch 452, the limit switch sends a signal to the tilting motor 42, which stops rotating, and the swing arm 44 stops swinging, preventing the actuator 6 from colliding with the wall or other objects. When encountering uneven areas on the ship's outer plating, the universal joint assembly 63 comes into play. The brush assembly 64 can flexibly adjust its angle along with the movement of the spherical structure 633, ensuring that the brush assembly 64 always maintains good contact with the wall surface and guarantees cleaning effectiveness. After cleaning one area, the robot chassis moves to the next area, repeating the above cleaning steps until the entire ship's outer plating is cleaned. After the cleaning operation is completed, the operator controls the robot to return to its initial position through the control system, turns off the power, and completes the entire cleaning process. In cleaning operations for equipment such as wind turbine towers or large cranes, the operation process is similar to that for cleaning ship outer plating. Only appropriate adjustments to the robot's magnetic attraction and cleaning parameters are needed according to the characteristics and requirements of different equipment to achieve efficient and safe cleaning operations.

[0074] In the description of this disclosure, it should be understood that the orientation or positional relationship indicated by directional terms is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this disclosure and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this disclosure; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0075] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," and "above" are used herein to describe the spatial positional relationship between one or more components or features shown in the figures and other components or features. It should be understood that spatial relative terms include not only the orientation of the component as depicted in the figures but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.

[0076] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0077] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in sequences other than those illustrated or described herein.

[0078] This disclosure has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this disclosure to the described embodiments. Furthermore, those skilled in the art will understand that this disclosure is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this disclosure, all of which fall within the scope of protection claimed by this disclosure. The scope of protection of this disclosure is defined by the appended claims and their equivalents.

Claims

1. A wall cleaning robot, characterized in that, include: The chassis mechanism includes a drive wheel assembly and a driven wheel assembly. The drive wheel assembly includes a drive motor housing and two drive wheels connected to the drive motor housing. The driven wheel assembly includes a mounting frame and two driven wheels disposed on the mounting frame. The mounting frame is fixedly connected to the drive motor housing. The magnetic attraction mechanism includes a first magnetic attraction component and a second magnetic attraction component, wherein the first magnetic attraction component is movably connected between the two driving wheels, and the second magnetic attraction component is movably connected between the two driven wheels; The flipping mechanism includes a base, a flipping motor, a reducer, a swing arm, and a limit switch assembly. The reducer is mounted on the base and connected to the swing arm. The limit switch assembly is mounted on the base and electrically connected to the flipping motor. When the swing arm swings and triggers the limit switch assembly, the flipping motor stops rotating to limit the swing range of the swing arm. The mounting bracket of the driven wheel assembly is provided with a slot, and the base is quickly assembled with the chassis mechanism through the slot. A lifting mechanism includes a parallelogram linkage assembly and a gas spring assembly. The gas spring assembly is installed diagonally across the parallelogram linkage assembly, and one end of the parallelogram linkage assembly is fixedly connected to the swing arm. An actuator is fixedly connected to the other end of the parallelogram linkage assembly. The actuator includes an actuator motor, a gearbox, two sets of universal joint assemblies, and two sets of brush disc assemblies. The gearbox includes a housing, an input shaft, a first output shaft, and a second output shaft. The actuator motor is connected to the input shaft. The first output shaft and the second output shaft extend from the housing and are respectively connected to the two sets of universal joint assemblies. The brush disc assembly is connected to the universal joint assembly. The actuator motor drives the first output shaft and the second output shaft to rotate in opposite directions through the gearbox, thereby driving the universal joint assembly to rotate the brush assembly to achieve the cleaning operation; the first output shaft and the second output shaft are hollow structures, used to supply water to the brush assembly. The parallelogram linkage assembly includes a connecting plate, a lifting plate, and two sets of parallel linkage pairs. The connecting plate is rigidly connected to the swing arm, and the lifting plate is fixedly connected to the actuator. Each set of parallel linkage pairs includes two links, and the two ends of each link are rotatably connected to the corresponding sides of the connecting plate and the lifting plate, respectively. The two sets of parallel linkage pairs are configured to maintain the spatial parallelism between the lifting plate and the connecting plate through the synchronous rotation of the links when the swing arm's posture changes.

2. The wall cleaning robot according to claim 1, characterized in that, The input shaft is provided with a first sprocket and a second sprocket, and the first output shaft is provided with a third sprocket. The first sprocket and the third sprocket are connected by a first chain. A first gear is provided on the second output shaft, and a rotating shaft is provided on the side of the second output shaft. A second gear and a fourth sprocket are provided on the rotating shaft. The second sprocket and the fourth sprocket are connected by a second chain, and the second gear meshes with the first gear. The first chain has a first tensioning component on its transmission path, and the second chain has a second tensioning component on its transmission path.

3. The wall cleaning robot according to claim 2, characterized in that, The first tensioning assembly includes a first tensioning block, a first tensioning part, a first spring, and two first limiting posts. The first tensioning part and the first tensioning block are perpendicular to each other, and the first limiting posts are installed at the bottom of the housing. The first tensioning block has a first blind hole and two first waist-shaped holes that are parallel to each other. The two first limiting posts are respectively inserted into the two first waist-shaped holes. One end of the first spring is placed in the first blind hole, and the other end extends out of the first blind hole and abuts against the inner wall of the box. The first chain abuts against the first tensioning part. The second tensioning assembly includes a second tensioning block, a second tensioning part, a second spring, and two second limiting posts. The second tensioning part and the second tensioning block are perpendicular to each other, and the second limiting posts are installed at the bottom of the housing. The second tensioning block has two parallel blind holes and two second waist-shaped holes. The two second limiting posts are respectively inserted into the two second waist-shaped holes. One end of the second spring is placed in the second blind hole, and the other end extends out of the second blind hole and abuts against the inner wall of the box. The second chain abuts against the second tensioning part.

4. The wall cleaning robot according to claim 2, characterized in that, A sealing assembly is provided on the first end of the first output shaft and the first end of the second output shaft, respectively; The sealing assembly includes a housing, a sealing ring, and a nylon ring. The housing has a first through hole, and the inner wall of the first through hole has a groove and a threaded structure. The sealing ring and the nylon ring are assembled in the groove, and the threaded structure is used to connect with the water inlet pipe.

5. The wall cleaning robot according to claim 1, characterized in that, The universal joint assembly includes an upper cover, a lower cover, a spherical structure, a bushing, steel balls, and a flange; The upper cover and the lower cover are fastened together to form a spherical cavity for accommodating the spherical structure and a hemispherical cavity for accommodating the steel ball; The spherical structure has a groove on its outer periphery, which extends along the equator of the spherical structure. The steel ball is assembled between the groove and the hemispherical cavity. The spherical structure also has a second through hole, which is used to fix the second end of the first output shaft or the second end of the second output shaft. The flange is fixedly connected to the spherical structure, and the brush assembly is mounted on the flange; The bushing is located between the upper cover and the spherical structure, and between the lower cover and the spherical structure.

6. The wall cleaning robot according to claim 1, characterized in that, The driven wheel assembly further includes a swing frame, the driven wheel is fixed to the mounting frame via the swing frame, the driven wheel is rotatable about the driven wheel axis of the driven wheel and is oscillating about the swing axis of the swing frame; wherein the swing axis and the driven wheel axis satisfy the perpendicular condition.

7. The wall cleaning robot according to claim 6, characterized in that, The driven wheel is equipped with multiple rollers.

8. The wall cleaning robot according to claim 1, characterized in that, The speed reducer includes an input end and two output ends. The reversing motor is keyed to the input end. There are two swing arms, and the two swing arms are respectively connected to the two output ends.

9. The wall cleaning robot according to claim 5, characterized in that, The top cover is provided with a threaded hole, and an oil injection nozzle is installed in the threaded hole.

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