Intelligent cleaning apparatus

Abstract

The present application relates to the technical field of cleaning equipment, in particular to an intelligent cleaning equipment for solving the problem of poor cleaning effect of the existing cleaning device on the pollutants on the surface of convex cleaning objects, the equipment comprising a cleaning mechanism, a speed regulating mechanism and a reset mechanism; the cleaning mechanism comprises a disc-shaped brush, which is configured to rotate around its own axis; the speed regulating mechanism comprises a first detection rod, which is configured to be able to stretch and contract along a first direction, and the first direction is perpendicular to the surface to be cleaned; the reset mechanism comprises a second detection rod, which is inserted into the disc-shaped brush and coaxially arranged with the disc-shaped brush, and is configured to be able to stretch and contract along the first direction; the first detection rod and the second detection rod abut the surface to be cleaned to detect the thickness of the pollutants; the equipment can adjust the cleaning intensity according to the thickness of the pollutants, and reduce energy consumption and equipment wear.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning devices, and in particular to intelligent cleaning equipment. Background Art

[0002] In modern industrial production and daily life, intelligent cleaning equipment is widely used in various cleaning scenarios due to its high efficiency and convenience. However, existing cleaning equipment often operates at a fixed speed or relies solely on simple preset speed control programs, which cannot be flexibly adjusted according to actual cleaning needs.

[0003] When the surface being cleaned is heavily contaminated, a fixed low speed makes it difficult to achieve the desired cleaning effect, resulting in incomplete cleaning. In areas with thinner contamination, continuous high speeds not only waste energy but also accelerate wear of cleaning components, shortening the equipment's lifespan. Furthermore, traditional cleaning equipment lacks effective means to accurately detect the degree of contamination on the surface being cleaned, making it difficult to precisely match cleaning intensity to actual needs, making it difficult to effectively improve cleaning efficiency and quality. Summary of the Invention

[0004] The present invention provides an intelligent cleaning device to solve the problem that existing cleaning devices have poor cleaning effects on pollutants on the surface of protruding cleaning objects.

[0005] In order to alleviate the above technical problems, the technical solution provided by the present invention is:

[0006] An intelligent cleaning device, comprising a cleaning mechanism, a speed regulating mechanism and a reset mechanism;

[0007] The cleaning mechanism includes a disc-shaped brush configured to rotate about its own axis;

[0008] The speed regulating mechanism includes a first detection rod, the first detection rod being configured to be able to extend and retract along a first direction, the first direction being perpendicular to the surface to be cleaned;

[0009] The reset mechanism includes a second detection rod, which is inserted into the disc brush and is coaxially arranged with the disc brush and is configured to be able to extend and retract along a first direction;

[0010] The first detection rod and the second detection rod abut against the surface to be cleaned to detect the thickness of pollutants.

[0011] Furthermore, the speed regulating mechanism further includes a first spring, and the reset mechanism further includes a second spring;

[0012] The first spring is used to apply a thrust to the first detection rod so that the first detection rod abuts against the surface to be cleaned;

[0013] The second spring is used to apply a pushing force to the first detecting rod so that the second detecting rod abuts against the surface to be cleaned.

[0014] Furthermore, the speed regulating mechanism further comprises a mounting barrel, a first air cylinder and a sliding switch;

[0015] The first detection rod is inserted into the mounting tube and forms a first driving cavity with the mounting tube, and the first driving cavity is connected with the rodless cavity or the rod cavity of the first cylinder;

[0016] The extended end of the first cylinder is connected to the slide switch, and the slide switch is used to control the rotation speed of the disc brush;

[0017] The first detection rod is extended and retracted along a first direction to change the size of the first driving cavity, thereby driving the first cylinder to extend and retract.

[0018] Furthermore, the reset mechanism further includes a one-way valve assembly, which is installed in the installation cavity of the installation cylinder and is arranged between the first driving cavity and the first cylinder;

[0019] The one-way valve assembly includes a counterweight, a swing plate, a first guide wheel, a second guide wheel, a storage wheel, and a pull rope; the swing plate is hinged below the counterweight and is configured to adhere to the inner wall of the installation cavity near the first drive cavity through magnetic attraction to prevent gas from flowing from the first cylinder to the first drive cavity;

[0020] One end of the pull rope is connected to the counterweight block, and the other end is connected to the storage wheel after passing through the second guide wheel and the first guide wheel in sequence; the storage wheel is configured to be able to move around its own axis to reel in the pull rope, and then lift the counterweight block and the swing plate to connect the first cylinder with the first drive chamber.

[0021] Furthermore, the reset mechanism further includes a reset drive assembly, and the reset drive assembly includes a limit seat, a rotating seat, a rotating rod and a rotating column;

[0022] The limit seat is installed on the cleaning mechanism, the rotating seat is connected to the second detection rod, and the rotating rod is rotatably installed on the limit seat and the rotating seat;

[0023] The rotating rod is slidably connected to the limiting seat along a first direction; the second detection rod drives the rotating rod to move along the first direction through the rotating seat;

[0024] The receiving wheel is mounted on the rotating rod and is slidably connected to the rotating rod, and the receiving wheel and the rotating rod transmit torque via a key;

[0025] The rotating column is sleeved on the rotating rod and is magnetically connected to the rotating rod. The outer circle of the disc-shaped brush can abut against the outer circle of the rotating column to drive the rotating rod to rotate through the rotating column.

[0026] Furthermore, the cleaning mechanism further includes a water tank and a water pipe, one end of the water pipe is connected to the water tank, and the other end is used to spray water to the location to be cleaned.

[0027] Furthermore, it further comprises a traveling mechanism, the traveling mechanism comprising a vehicle body and a reciprocating assembly, the reciprocating assembly being mounted on the vehicle body;

[0028] The cleaning mechanism includes a mechanical arm, and the disc brush, the speed regulating mechanism and the reset mechanism are all installed on the mechanical arm;

[0029] The reciprocating assembly drives the robotic arm to reciprocate along a second direction, and the second direction is perpendicular to the first direction.

[0030] Furthermore, the reciprocating assembly includes a slide and a toothless gear, and the robotic arm is mounted on the slide;

[0031] The sliding seat is provided with two groups of teeth extending along the second direction, and the tooth surfaces of the two groups of teeth are opposite to each other;

[0032] The toothless gear is configured to rotate around its own axis to alternately engage with the two groups of teeth, thereby driving the slide to reciprocate along the second direction.

[0033] Furthermore, the traveling mechanism further comprises a switching assembly and a moving wheel, and the moving wheel is rotatably mounted on the vehicle body;

[0034] The switching assembly includes a drive motor, a first driving wheel, a first driven wheel, a second driving wheel, a second driven wheel, and a synchronizer ring;

[0035] The first driving wheel, the second driving wheel and the synchronizer ring are rotatably mounted on the output shaft of the drive motor; the synchronizer ring is slidably connected to the output shaft of the drive motor and is configured to drive the first driving wheel or the second driving wheel to rotate through friction;

[0036] The first driving wheel drives the first driven wheel to rotate through a transmission belt, thereby driving the moving wheel to rotate; the second driving wheel drives the second driven wheel to rotate through a transmission belt, thereby driving the toothless gear to rotate.

[0037] Furthermore, the switching assembly further comprises a hydraulic rod, a mounting seat and an L-shaped locking block;

[0038] The synchronizer ring is rotatably mounted on the mounting seat, the L-shaped locking block is connected to the mounting seat, and the hydraulic rod is connected to the mounting seat to drive the synchronizer ring and the L-shaped locking block to move along the first direction;

[0039] When the synchronizer ring abuts against the second driving wheel to drive the second driving wheel to rotate, the L-shaped locking block abuts against the first driving wheel.

[0040] The beneficial effects of the present invention are analyzed as follows:

[0041] An intelligent cleaning device includes a cleaning mechanism, a speed regulating mechanism and a reset mechanism; the cleaning mechanism includes a disc brush, which is configured to rotate around its own axis; the speed regulating mechanism includes a first detection rod, which is configured to be able to extend and retract along a first direction, and the first direction is perpendicular to the surface to be cleaned; the reset mechanism includes a second detection rod, which is inserted into the disc brush and coaxially arranged with the disc brush, and is configured to be able to extend and retract along the first direction; the first detection rod and the second detection rod abut the surface to be cleaned to detect the thickness of the contaminant.

[0042] By simultaneously placing the first and second detection rods against the surface to be cleaned, the thickness of the contaminants can be accurately detected. When thicker contaminants are detected, the speed regulation mechanism automatically increases the rotation speed of the disc brush based on the detection data, ensuring that the cleaning mechanism operates with appropriate cleaning force, effectively improving the cleaning effect. When the contaminants are thinner, the speed regulation mechanism reduces the rotation speed to avoid maintaining a high rotation speed even when the cleaning level has reached the standard, thereby reducing energy consumption and equipment wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in related technologies, the following briefly introduces the drawings required for use in the specific embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of the disc brush of the present invention;

[0046] Figure 3 This is a structural diagram of the sliding switch of the present invention;

[0047] Figure 4 It is a structural schematic diagram of the rotating rod of the present invention;

[0048] Figure 5 For the present invention Figure 4Schematic diagram of the structure of part A;

[0049] Figure 6 It is a structural diagram of the walking mechanism of the present invention;

[0050] Figure 7 For the present invention Figure 6 Schematic diagram of the structure of part B;

[0051] Figure 8 It is a structural schematic diagram of the mounting seat of the present invention.

[0052] icon:

[0053] 100, cleaning mechanism; 110, robotic arm; 120, disc brush; 130, driven bevel gear; 140, first motor; 150, driving bevel gear; 160, water tank; 170, water pipe; 200, speed regulating mechanism; 210, mounting cylinder; 211, cylindrical cavity; 220, first detection rod; 230, first spring; 240, first cylinder; 241, air pipe; 250, sliding switch; 300, reset mechanism; 310, rotating rod; 311, rotating column; 320, pull rope; 330, counterweight; 331, rectangular cavity; 340, swing plate; 350, storage wheel; 351, first guide wheel; 360, Second guide wheel; 361, rotating shaft; 362, limit plate; 363, torsion spring; 364, mounting plate; 370, rotating seat; 380, second detection rod; 381, second spring; 390, limit seat; 400, walking mechanism; 410, base; 420, slide; 430, rectangular frame; 440, cylindrical rod; 441, toothless gear; 442, second driven wheel; 450, axle; 451, moving wheel; 452, first driven wheel; 460, driving motor; 461, first driving wheel; 462, second driving wheel; 470, hydraulic rod; 480, mounting seat; 481, L-shaped locking block; 490, synchronization ring. DETAILED DESCRIPTION

[0054] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0055] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0056] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0057] Examples, such as Figure 1 and Figure 2 As shown, an intelligent cleaning equipment includes a cleaning mechanism 100, a speed regulating mechanism 200, a resetting mechanism 300 and a walking mechanism 400. The cleaning mechanism 100 includes a robotic arm 110. The end of the robotic arm 110 is rotatably connected to a disc brush 120. The disc brush 120 is fixedly connected to a driven bevel gear 130. The robotic arm 110 is fixedly connected to a first motor 140. The output end of the first motor 140 is connected to a driving bevel gear 150. The driving bevel gear 150 meshes with the driven bevel gear 130 and drives the driven bevel gear 130 to rotate, so that the disc brush 120 rotates. When the disc brush 120 rotates and moves on the surface of the object to be cleaned, it can clean the object.

[0058] Reference Figure 1 The cleaning mechanism 100 also includes a water tank 160, which is connected to a water pipe 170. The water outlet of the water pipe 170 is directed toward the cleaning position of the disc brush 120. A water pump is provided in the water tank 160 to provide water spraying pressure for the water pipe 170.

[0059] Reference Figure 2 、 Figure 3 and Figure 4The speed regulating mechanism 200 includes a mounting cylinder 210, a cylindrical cavity 211 is provided in the mounting cylinder 210, a first detecting rod 220 is slidably connected in the cylindrical cavity 211, a ball is hinged at the end of the first detecting rod 220, and a first spring 230 is provided in the cylindrical cavity 211. The first spring 230 provides thrust to the first detecting rod 220, so that the first detecting rod 220 has a tendency to slide outward. When in use, the mechanical arm 110 is controlled to move the disc brush 120 to fit the surface of the object to be cleaned. The ball at the end of the first detection rod 220 contacts the object to be cleaned, which can shorten the distance between the disc brush 120 and the surface of the object to be cleaned, so that the first spring 230 is in a compressed but not completely shortened state, and the base 410 drives the disc brush 120 to move toward the position of the first detection rod 220. When the surface of the object to be cleaned is convex due to the adhesion of contaminants, the ball at the end of the first detection rod 220 rolls on the surface of the contaminants, causing the first detection rod 220 to slide toward the inside of the cylindrical cavity 211.

[0060] Reference Figure 3 The speed regulating mechanism 200 further includes a sliding switch 250 and a first cylinder 240. The sliding switch 250 and the first cylinder 240 are both fixedly connected to the mounting tube 210. The sliding switch 250 is used to control the speed of the first motor 140. The output end of the first cylinder 240 is fixedly connected to the sliding piece of the sliding switch 250. The first cylinder 240 is connected to the cylindrical cavity 211 through the air pipe 241. When the first detection rod 220 slides into the cylindrical cavity 211, the air in the cylindrical cavity 211 is transferred to the first cylinder 240. At this time, the output end of the first cylinder 240 extends, thereby pushing the sliding piece of the sliding switch 250 to slide, so that the speed of the first motor 140 increases, and then the speed of the disc brush 120 increases, so that the cleaning intensity of the pollutants is improved;

[0061] When the rotation speed of the disc brush 120 increases, the movement mode of the disc brush 120 changes from unidirectional movement to reciprocating movement, and the walking mechanism 400 changes the movement mode of the disc brush 120 to reciprocating movement at the protruding pollutant parts, so that the pollutants are thoroughly cleaned.

[0062] Reference Figure 2 and Figure 4The reset mechanism 300 includes a second detection rod 380 slidably connected to the robotic arm 110. The second detection rod 380 is coaxially arranged with the disc brush 120. The length ends of the first detection rod 220 and the second detection rod 380 in the initial state are equal to the distance between the object to be cleaned. A sliding hole that cooperates with the second detection rod 380 is opened in the robotic arm 110. The second detection rod 380 is connected to the robotic arm 110 by a second spring 381. A ball is also provided at the end of the second detection rod 380. The disc brush 120 moves back and forth to move the object to be cleaned. During cleaning, if the protruding contaminants have not been brushed off, the first detection rod 220 and the second detection rod 380 can alternately contact the protruding contaminants due to the operation of the walking mechanism 400. At this time, the second detection rod 380 can slide and retract toward the direction of the robotic arm 110, and there is friction between the second detection rod 380 and the robotic arm 110, which reduces the speed at which the second spring 381 pushes the second detection rod 380 to reset. That is, when the disc brush 120 moves back and forth one stroke, the second detection rod 380 does not slide and reset, ensuring the maintenance of the one-way valve structure.

[0063] Reference Figure 2 and Figure 4 The side of the second detection rod 380 is fixedly connected to the swivel seat 370 through an extension rod. The robotic arm 110 is provided with a through slot that cooperates with the extension rod on the swivel seat 370. When the second detection rod 380 slides, the swivel seat 370 slides synchronously. The swivel seat 370 is rotatably connected to the swivel rod 310, and the swivel rod 310 is connected to the swivel seat 370 through a bearing, so that only rotation can occur between the two without axial sliding. The end of the swivel rod 310 is rotatably connected to the swivel column 311, and magnets are provided on the swivel column 311 and the swivel rod 310, so that there is a magnetic attraction between the two, so that the swivel column 311 can drive the swivel rod 310 to rotate, but when the swivel rod 310 is blocked, the swivel column 311 can rotate relative to the swivel rod 310.

[0064] When adjusting the distance between the disc brush 120 and the cleaning surface, the second detection rod 380 is also subjected to pressure. At this time, the second detection rod 380 is in a retracted state. The second detection rod 380 drives the rotating column 311 to move axially relative to the disc brush 120 through the rotating seat 370 and the rotating rod 310. However, at this time, the side wall of the rotating column 311 is still in contact with the side wall of the disc brush 120, so that the counterweight block 330 is still pulled, so that the one-way valve structure will not be formed, so that the disc brush 120 can drive the rotating column 311 to rotate synchronously when it rotates.

[0065] Reference Figure 3 、 Figure 4 and Figure 5A rectangular cavity 331 is provided in the mounting cylinder 210. The rectangular cavity 331 is connected to the air pipe 241. A counterweight 330 is slidably connected to the interior of the rectangular cavity 331. The side of the counterweight 330 is in contact with the inner wall of the rectangular cavity 331. A swing plate 340 is hinged to the bottom of the counterweight 330. In the initial state, the swing plate 340 is in contact with the inner wall of the rectangular cavity 331 close to the cylindrical cavity 211 and is magnetically attracted to each other. When the air in the cylindrical cavity 211 is discharged, the swing plate 340 can be pushed to swing. When the air discharge stops, the magnetic force attracts the swing plate 340, so that the air pipe 241 is opened. 41 is interrupted, so that the air on the opposite side of the cylindrical cavity 211 of the pendulum plate 340 cannot push the pendulum plate 340 to swing in the opposite direction. A protrusion is also provided on the inner wall of the rectangular cavity 331. The protrusion is located at the bottom of the counterweight block 330, which is used to limit the falling height of the counterweight block 330 to prevent the counterweight block 330 from losing support and falling when the pendulum plate 340 swings. The pendulum plate 340 and the above-mentioned structure cooperate with each other to form a one-way valve, so that the air in the cylindrical cavity 211 will not flow back after being discharged into the first cylinder 240, thereby ensuring the stability of the sliding switch 250 and the stability of the rotation speed of the disc brush 120.

[0066] Reference Figure 4 The mechanical arm 110 is also fixedly connected to the limit seat 390, and the rotating rod 310 is slidably connected to the limit seat 390. The storage wheel 350 is rotatably connected to the limit seat 390. The storage wheel 350 is rotatably connected to the rotating rod 310. The key sliding connection between the storage wheel 350 and the rotating rod 310 allows the rotating rod 310 and the storage wheel 350 to slide axially, but the rotating rod 310 can still drive the storage wheel 350 to rotate, so that the rotating rod 310 can drive the storage wheel 350 to rotate when it rotates, and the rotating rod 310 will not drive the storage wheel 350 to slide when it slides. A pull rope 320 is wound around the storage wheel 350, and the pull rope 320 is elastic, and the end is fixedly connected to the counterweight block 330. When the disc brush 120 is cleaning normally and the cleaning surface is flat, the rotating column 311 and the disc brush 120 are 0 contact, and at this time the disc brush 120 drives the rotating rod 310 to rotate, so that after the pull rope 320 is completely stored by the storage wheel 350, the rotating column 311 rotates relative to the rotating rod 310. When the pull rope 320 is completely stored, the counterweight 330 is pulled. At this time, there is a gap between the swing plate 340 and the bottom wall of the rectangular cavity 331, and the one-way valve structure fails. When the second detection rod 380 contacts the raised contaminant, it retracts. At this time, the rotating column 311 is away from the disc brush 120, but the rotating column 311 will never contact the driven bevel gear 130, so that the counterweight 330 falls under gravity. At this time, the one-way valve structure is formed, so that the sliding switch 250 can be driven. At this time, the disc brush 120 moves back and forth to repeatedly clean the raised contaminants.

[0067] As the disc brush 120 continues to move back and forth, the raised contaminants are gradually brushed off, so that the second detection rod 380 can gradually reset, and then the rotating column 311 can contact the side wall of the disc brush 120, so that the pull rope 320 is retracted again, so that the first cylinder 240 is shortened, the first detection rod 220 is reset, and the disc brush 120 resumes its linear movement state.

[0068] Reference Figure 4 and Figure 5 A position sensor is provided in the cylindrical cavity 211. When the position sensor detects that the first detection rod 220 slides, the disc brush 120 changes from unidirectional motion to linear reciprocating motion. When the disc brush 120 reciprocates linearly, the ball at the end of the second detection rod 380 can roll on the protrusion on the cleaning surface. The rotating seat 370 is fixedly connected to the second detection rod 380 and is rotatably connected to the rotating rod 310, and the rotating rod 310 does not slide relative to the rotating seat 370. At this time, the second detection rod 380 0 contracts and drives the rotating rod 310 to move synchronously and away from the disc brush 120 through the rotating seat 370, so that the side wall of the rotating column 311 no longer contacts the side wall of the disc brush 120. At this time, the pull rope 320 can be released from the storage wheel 350, so that the pull rope 320 releases the pulling of the counterweight 330. At this time, the counterweight 330 falls, and the swing plate 340 moves to a position where it can block the air pipe 241, that is, the one-way valve structure appears. As the disc brush 120 reciprocates, the first detection rod 22 0 can move to the surface of the cleaning object again, and then the ball at the end of the first detection rod 220 contacts the protrusion and is pushed into the cylindrical cavity 211. At this time, the air in the cylindrical cavity 211 will not flow back after entering the first cylinder 240, so that the slider position of the sliding switch 250 is fixed, and then the disc brush 120 increases the speed and moves back and forth to clean the protrusions on the surface of the cleaning object. When the protrusion is brushed off, the second detection rod 380 will no longer be pushed by the protrusion to slide, so that the slow return of the second detection rod 380 allows the rotating column 311 to contact the side wall of the disc brush 120 again. At this time, the rotating disc brush 120 drives the rotating rod 310 to rotate, thereby causing the pull rope 320 to be retracted, causing the counterweight 330 to be lifted, and making the air pipe 241 unobstructed, and then the first spring 230 pushes the first detection rod 220 to reset, causing the first cylinder 240 to shorten, so that the slider of the sliding switch 250 is reset, and the speed of the disc brush 120 is restored.

[0069] Reference Figure 4 and Figure 5The first guide wheel 351 and the second guide wheel 360 are rotatably connected to the mechanical arm 110, and the pull rope 320 is transmitted to the first guide wheel 351 and the second guide wheel 360. The ends of the rotating shaft 361 of the first guide wheel 351 and the second guide wheel 360 are connected to the limit plate 362. The mechanical arm 110 is connected to the mounting plate 364. A torsion spring 363 is fixedly connected between the limit plate 362 and the mounting plate 364.

[0070] The end of the rotating column 311 is provided with a cone angle. When the protrusions on the surface of the object to be cleaned are gradually cleaned, the protrusion degree of the protrusions may gradually decrease. At this time, the extended length of the second detection rod 380 is longer than before, so that the second detection rod 380 is gradually reset, so that the distance between the rotating column 311 and the disc brush 120 is shortened, which enables the rotating column 311 to contact the disc brush 120 faster. The setting of the cone angle at the end of the rotating column 311 makes it possible for the disc brush 120 to not drive the rotating column 311 to rotate when the end of the rotating column 311 moves to the side wall position of the disc brush 120, thereby providing position compensation to prevent the counterweight block 330 from being lifted when the protrusions are not completely cleaned.

[0071] Since the pull rope 320 is elastic, when the rotating column 311 is driven close to the disc brush 120 by the reset of the second detection rod 380 and briefly contacts the disc brush 120, the pull rope 320 can be elastically deformed so that the counterweight 330 is still not lifted.

[0072] Reference Figure 6 and Figure 7 , also includes a walking mechanism 400, the walking mechanism 400 includes a base 410, the bottom of the base 410 is rotatably connected to a wheel axle 450, the end of the wheel axle 450 is connected to a moving wheel 451, the water tank 160 is fixedly connected to the upper surface of the base 410, the upper surface of the base 410 is slidably connected to a slide 420, the robotic arm 110 is connected to the slide 420, the upper surface of the base 410 is connected to a drive motor 460, and a first driving wheel 461 and a second driving wheel 462 are installed on the output shaft of the drive motor 460, a first driven wheel 452 is fixedly connected to the wheel axle 450, and the second driving wheel 462 is connected to the first driven wheel 452 through a belt. In the initial state, the walking mechanism 400 does not run. At this time, the drive motor 460 can drive the base 410 to move in one direction, thereby driving the robotic arm 110 and the disc brush 120 to move in one direction.

[0073] Reference Figure 6 and Figure 7 The bottom of the slide 420 is fixedly connected to a rectangular frame 430, and two sets of teeth are provided on the symmetrical side walls of the rectangular frame 430. The lower surface of the base 410 is rotatably connected to a cylindrical rod 440, and the cylindrical rod 440 is connected to a toothless gear 441 and a second driven wheel 442. The toothless gear 441 has half teeth, and the toothless gear 441 is inserted in the middle of the rectangular frame 430. When the toothless gear 441 rotates, it can alternately engage with the upper and lower teeth in the rectangular frame 430, so that the rectangular frame 430 slides back and forth, thereby causing the slide 420 to drive the disc brush 120 to move back and forth through the robotic arm 110, and the first driving wheel 461 is connected to the second driven wheel 442 through a belt.

[0074] Reference Figure 6 and Figure 8 A hydraulic rod 470 is also fixedly connected to the lower surface of the base 410. The output end of the hydraulic rod 470 is connected to a mounting seat 480. A synchronizer ring 490 is rotatably connected to the mounting seat 480. The synchronizer ring 490 is annular and is rotatably connected to the mounting seat 480 through a bearing. The synchronizer ring 490 is coaxially keyed and slidably connected to the output shaft of the drive motor 460. When the displacement sensor does not detect that the first detection rod 220 slides into the cylindrical cavity 211, the control system controls the hydraulic rod 470 to be in a shortened state. At this time, the synchronizer ring 490 abuts against the second driving wheel 462, and the output of the drive motor 460 The shaft drives the second driving wheel 462 to rotate through the synchronous ring 490, thereby causing the wheel shaft 450 to rotate, so that the base 410 moves unidirectionally. When the displacement sensor detects that the first detection rod 220 slides into the cylindrical cavity 211, the hydraulic rod 470 is in an extended state. At this time, the synchronous ring 490 abuts against the first driving wheel 461, and the output shaft of the drive motor 460 drives the first driving wheel 461 to rotate through the synchronous ring 490, and then the rectangular frame 430 rotates unidirectionally. At this time, the toothless gear 441 rotates unidirectionally and alternately engages with the upper and lower teeth in the rectangular frame 430, so that the disc brush 120 moves back and forth.

[0075] Reference Figure 6 and Figure 8 An L-shaped locking block 481 is connected to the mounting seat 480. When the hydraulic rod 470 is extended to cause the disc brush 120 to move back and forth, the L-shaped locking block 481 can abut against the second driving wheel 462, so that the second driving wheel 462 is locked and will not rotate, so that the base 410 no longer moves, ensuring that the disc brush 120 can move back and forth stably.

[0076] The synchronizer ring 490 , the first driving wheel 461 , the second driving wheel 462 and the L-shaped locking block 481 are all provided with anti-slip grooves to ensure stable transmission or locking between the components when the above-mentioned actions occur.

[0077] The method for using the intelligent cleaning device comprises the following steps:

[0078] S1. Move the base 410 to a position close to the surface to be cleaned, so that the moving wheels 451 roll on the ground.

[0079] S2. Control the robotic arm 110 to extend so that the disc brush 120 moves to the surface to be cleaned, and makes the disc surface of the disc brush 120 parallel to the surface to be cleaned, and the robotic arm 110 drives the disc brush 120 closer to the surface to be cleaned, so that the first detection rod 220 and the second detection rod 380 are both in a slightly compressed state, and the first spring 230 and the second spring 381 are in a not fully compressed state. At this time, the bristles of the disc brush 120 are attached to the surface to be cleaned.

[0080] S3. Start the drive motor 460. At this time, the drive motor 460 drives the moving wheel 451 to rotate, thereby moving the base 410. The base 410 drives the robotic arm 110 to move synchronously, so that the disc brush 120 moves in a straight line on the surface to be cleaned and cleans the surface to be cleaned. At the same time, the water pump in the water tank 160 is started, so that water is sprayed to the cleaning part of the disc brush 120 through the water pipe 170.

[0081] S4. The base 410 moves toward the direction of the first detection rod 220. The first detection rod 220 first contacts the part that needs to be cleaned by the disc brush 120. When the ball at the end of the first detection rod 220 rolls on the dirt adhered to the surface to be cleaned, the first detection rod 220 slides into the cylindrical cavity 211 to further compress the first spring 230. Then the speed of the first motor 140 increases and drives the disc brush 120 to rotate rapidly. The walking mechanism 400 transmits the output power of the motor to the cylindrical rod 440, so that the wheel axle 450 no longer rotates, causing the base 410 to stop moving. The robotic arm 110 slides back and forth on the base 410, causing the disc brush 120 to rotate rapidly and continuously clean the part of the surface to be cleaned where the dirt adheres.

[0082] S5. As the disc brush 120 continues to clean the dirt, after the dirt is brushed off, the second detection rod 380 can be extended in the direction away from the robotic arm 110 to the shortened length of the second detection rod 380 when the disc brush 120 contacts the surface to be cleaned in the initial state, so that the first detection rod 220 is reset, the robotic arm 110 no longer slides back and forth on the base 410, and the base 410 continues to move on the ground, so that the disc brush 120 moves unidirectionally to continue cleaning the surface to be cleaned.

[0083] S6. After the base 410 moves to the end of the surface to be cleaned, the robot arm 110 operates to control the disc brush 120 to move up along the surface to be cleaned, and continues to brush the surface to be cleaned according to the above steps until the surface to be cleaned is fully cleaned.

[0084] It should be noted here that when brushing the surface to be cleaned, if there are objects such as electrical equipment installed on the surface to be cleaned, these devices should be avoided when adjusting the extension angle and height of the robot arm 110.

[0085] When the thickness of the contaminants is small enough, the rotating post 311 contacts the disc brush 120 and the one-way valve structure is not formed. At this time, the remaining contaminants can be removed with just one cleaning.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent cleaning device, characterized by: It comprises a cleaning mechanism (100), a speed regulating mechanism (200) and a reset mechanism (300); The cleaning mechanism (100) comprises a disc-shaped brush (120), wherein the disc-shaped brush (120) is configured to rotate around its own axis; The speed regulating mechanism (200) comprises a first detection rod (220), wherein the first detection rod (220) is configured to be able to extend and retract along a first direction, the first direction being perpendicular to the surface to be cleaned; The reset mechanism (300) comprises a second detection rod (380), the second detection rod (380) being inserted into the disc-shaped brush (120) and coaxially arranged with the disc-shaped brush (120), and configured to be able to extend and retract along a first direction; The first detection rod (220) and the second detection rod (380) abut against the surface to be cleaned to detect the thickness of the contaminants; The speed regulating mechanism (200) further includes a first spring (230), and the reset mechanism (300) further includes a second spring (381); The first spring (230) is used to apply a thrust to the first detection rod (220) so that the first detection rod (220) abuts against the surface to be cleaned; The second spring (381) is used to apply a thrust to the first detection rod (220) so that the second detection rod (380) abuts against the surface to be cleaned; The speed regulating mechanism (200) further includes a mounting cylinder (210), a first air cylinder (240), and a sliding switch (250); The first detection rod (220) is inserted into the installation tube (210) and forms a first driving cavity with the installation tube (210), and the first driving cavity is communicated with the rodless cavity or the rod cavity of the first cylinder (240); The extended end of the first cylinder (240) is connected to the slide switch (250), and the slide switch (250) is used to control the rotation speed of the disc brush (120); The first detection rod (220) is extended and retracted along a first direction to change the size of the first driving cavity, thereby driving the first cylinder (240) to extend and retract; The reset mechanism (300) further comprises a one-way valve assembly, wherein the one-way valve assembly is installed in the installation cavity of the installation cylinder (210) and is arranged between the first driving cavity and the first cylinder (240); The one-way valve assembly comprises a counterweight (330), a swing plate (340), a first guide wheel, a second guide wheel, a storage wheel (350), and a pull rope (320); the swing plate (340) is hinged below the counterweight (330) and is configured to adhere to the inner wall of the installation cavity close to the first drive cavity by magnetic attraction to prevent gas from flowing from the first cylinder (240) to the first drive cavity; One end of the pull rope (320) is connected to the counterweight (330), and the other end is connected to the storage wheel (350) after passing through the second guide wheel and the first guide wheel in sequence; the storage wheel (350) is configured to be able to move around its own axis to reel in the pull rope (320), thereby lifting the counterweight (330) and the swing plate (340) so that the first cylinder (240) is connected to the first drive chamber; The reset mechanism (300) further includes a reset drive assembly, wherein the reset drive assembly includes a limit seat (390), a rotating seat (370), a rotating rod (310) and a rotating column (311); The limiting seat (390) is mounted on the cleaning mechanism (100), the rotating seat (370) is connected to the second detection rod (380), and the rotating rod (310) is rotatably mounted on the limiting seat (390) and the rotating seat (370); The rotating rod (310) is slidably connected to the limiting seat (390) along a first direction; the second detection rod (380) drives the rotating rod (310) to move along the first direction via the rotating seat (370); The storage wheel (350) is sleeved on the rotating rod (310) and is slidably connected to the rotating rod (310), and the storage wheel (350) and the rotating rod (310) transmit torque via a key; The rotating column (311) is sleeved on the rotating rod (310) and is magnetically connected to the rotating rod (310). The outer circle of the disc-shaped brush (120) can abut against the outer circle of the rotating column (311) to drive the rotating rod (310) to rotate through the rotating column (311).

2. The intelligent cleaning equipment according to claim 1, characterized in that: The cleaning mechanism (100) further comprises a water tank (160) and a water pipe (170); one end of the water pipe (170) is in communication with the water tank (160), and the other end is used for spraying water toward the location to be cleaned.

3. The intelligent cleaning equipment according to any one of claims 1-2, characterized in that: It also includes a running mechanism (400), the running mechanism (400) including a vehicle body and a reciprocating assembly, the reciprocating assembly being mounted on the vehicle body; The cleaning mechanism (100) comprises a mechanical arm (110), and the disc-shaped brush (120), the speed regulating mechanism (200), and the reset mechanism (300) are all mounted on the mechanical arm (110); The reciprocating assembly drives the mechanical arm (110) to reciprocate along a second direction, and the second direction is perpendicular to the first direction.

4. The intelligent cleaning equipment according to claim 3, characterized in that: The reciprocating assembly comprises a slide (420) and a toothless gear (441), and the robotic arm (110) is mounted on the slide (420); The sliding seat (420) is provided with two groups of teeth extending along the second direction, and the tooth surfaces of the two groups of teeth are opposite to each other; The toothless gear (441) is configured to rotate around its own axis to alternately engage with the two groups of teeth, thereby driving the slide (420) to move back and forth along the second direction.

5. The intelligent cleaning equipment according to claim 4, characterized in that: The walking mechanism (400) further includes a switching assembly and a moving wheel (451), and the moving wheel (451) is rotatably mounted on the vehicle body; The switching assembly includes a drive motor (460), a first driving wheel (461), a first driven wheel (452), a second driving wheel (462), a second driven wheel (442), and a synchronizer ring (490); The first driving wheel (461), the second driving wheel (462) and the synchronizer ring (490) are rotatably mounted on the output shaft of the drive motor (460); the synchronizer ring (490) is slidably connected to the output shaft of the drive motor (460) and transmits torque through a key, and is configured to drive the first driving wheel (461) or the second driving wheel (462) to rotate through friction; The first driving wheel (461) drives the first driven wheel (452) to rotate via a transmission belt, thereby driving the moving wheel (451) to rotate; the second driving wheel (462) drives the second driven wheel (442) to rotate via a transmission belt, thereby driving the toothless gear (441) to rotate.

6. The intelligent cleaning equipment according to claim 5, characterized in that: The switching assembly further includes a hydraulic rod (470), a mounting seat (480), and an L-shaped locking block (481); The synchronizer ring (490) is rotatably mounted on the mounting seat (480), the L-shaped locking block (481) is connected to the mounting seat (480), and the hydraulic rod (470) is connected to the mounting seat (480) to drive the synchronizer ring (490) and the L-shaped locking block (481) to move along the first direction; When the synchronization ring (490) abuts against the second driving wheel (462) to drive the second driving wheel (462) to rotate, the L-shaped locking block (481) abuts against the first driving wheel (461).

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