Self-generating robot

Abstract

The invention discloses a self-generating robot. The self-power-generation robot comprises a track, a conveying mechanism, a robot assembly and a dust removal device, the conveying mechanism comprises a driving wheel, a driven wheel, a steel wire rope and a driving mechanism, the driving wheel and the driven wheel are symmetrically arranged at the two ends of the track in the first direction, the steel wire rope surrounds the driving wheel and the driven wheel in a closed mode, and the driving mechanism can drive the driving wheel to rotate; the robot assembly comprises a robot body, a power generation wheel set and a generator, the robot assembly is fixedly connected with the steel wire rope, the robot assembly is movably connected with the track through the power generation wheel set, the power generation wheel set and the generator are arranged on the robot body, and the power generation wheel set can drive the generator to operate; the dust removal device is connected with the robot assembly, the robot assembly can drive the dust removal device to move along the track, and the dust removal device can be used for cleaning the track. According to the self-power-generation robot, the track can be cleaned while the self-power-generation robot works, the dust removal efficiency is high, installation and maintenance are convenient, and compatibility is good.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a self-generating robot. Background Technology

[0002] Existing self-generating robots typically operate in harsh environments, where dust, sand, and other debris easily accumulate on their tracks. When this dust and foreign matter accumulate to a certain level, it can severely affect the operation of the self-generating robot, leading to increased wear and tear, shortened lifespan, and malfunctions, thus impacting its normal operation. Summary of the Invention

[0003] This invention provides a self-generating robot that solves the problem of track cleaning for self-generating robots.

[0004] This invention provides a self-generating robot, comprising a track, a conveying mechanism, a robot assembly, and a dust removal device. The track extends along a first direction and is symmetrically arranged along a second direction, the first direction being perpendicular to the second direction. The conveying mechanism includes a drive wheel, a driven wheel, a wire rope, and a drive mechanism. The drive wheel and the driven wheel are symmetrically arranged at both ends of the track along the first direction. The wire rope is closedly wound around the drive wheel and the driven wheel. The drive mechanism can drive the drive wheel to rotate. The robot assembly includes a robot body, a power generation wheel assembly, and a generator. The robot assembly is fixedly connected to the wire rope and movably connected to the track through the power generation wheel assembly. The power generation wheel assembly and the generator are mounted on the robot body, and the power generation wheel assembly can drive the generator to operate. The dust removal device is connected to the robot assembly, and the robot assembly can drive the dust removal device to move along the track. The dust removal device can be used to clean the track. The self-generating robot provided by this invention has the characteristics of high dust removal efficiency, convenient installation and maintenance, and good compatibility.

[0005] According to an embodiment of the present invention, when the self-generating robot is working, the steel wire rope moves under the action of external force, driving the robot to move together. The power generation wheel set rolls along the track, and the rotation of the power generation wheel set drives the generator to run through the mechanism. The generator runs to power the self-generating robot's own lithium battery, realizing the mechanism's self-generation. At the same time as working, the track can be cleaned. When the self-generating robot starts to move, the cleaning component cleans the track surface, which can clean the dust on the track surface and clean foreign objects such as dust / magnetic debris to both sides of the track, thereby ensuring the normal operation of the self-generating robot.

[0006] According to the foregoing embodiments of the present invention, the power generation wheel assembly includes an upper roller, a lower roller, and a side roller. The upper roller can drive the generator to operate by rotation. The upper roller rolls in contact with the upper surface of the track, the lower roller rolls in contact with the lower surface of the track, and the side rollers roll in contact with the side of the track. The track is I-shaped, and the upper roller, lower roller, and side roller can engage with the side of the track to prevent the self-generating robot from becoming unstable during operation.

[0007] According to any of the foregoing embodiments of the present invention, the self-generating robot includes two sets of power-generating wheel sets, which are symmetrically arranged along the first direction. The two sets of power-generating wheel sets can completely enclose the track, thereby enabling the self-generating robot to operate stably in all directions (up, down, left, and right) during operation.

[0008] According to any of the foregoing embodiments of the present invention, the dust removal device includes a mounting frame, a cleaning component, and a guide wheel assembly. The mounting frame is connected to the robot component; the cleaning component is connected to the mounting frame and contacts the track surface. While the dust removal device moves with the robot component, the cleaning component cleans the track surface; the guide wheel assembly is connected to the mounting frame and rolls with the track. When the self-generating robot is working, it connects to the mounting frame of the dust removal device via a connecting rod and drives the dust removal component to move. The guide wheel assembly of the dust removal component and the power generation wheel assembly of the self-generating robot have the same structure. The cleaning component includes two cleaning parts, which are symmetrically installed on both sides of the mounting frame along the first direction of the track to ensure the removal of dust from the track sides.

[0009] According to any of the foregoing embodiments of the present invention, the self-generating robot includes two sets of dust removal devices, which are symmetrically arranged along the first direction. The two sets of dust removal devices are located on opposite sides of the track, allowing simultaneous cleaning of both sides of the track.

[0010] According to any of the foregoing embodiments of the present invention, the self-generating robot further includes multiple track supports, and the track is fixedly installed on the multiple track supports. The track supports are vertically arranged, the track is erected on the track supports, the distance between the track and the ground is set, and the robot components are movably arranged on the track.

[0011] According to any of the foregoing embodiments of the present invention, the self-generating robot further includes multiple rope-supporting wheel brackets, which are fixedly connected to the track and used to limit the steel wire rope. The rope-supporting wheel brackets are fixedly mounted on the track, and their left and right ends can limit the steel wire rope, ensuring its stability during operation.

[0012] According to any of the foregoing embodiments of the present invention, each of the rope-supporting pulley brackets includes two sets of rope-supporting pulleys symmetrically arranged relative to the first direction. Each set of rope-supporting pulleys includes an upper rope-supporting pulley and a lower rope-supporting pulley. The upper rope-supporting pulley and the lower rope-supporting pulley are provided with rope grooves in their circumference, and the upper rope-supporting pulley and the lower rope-supporting pulley can confine the wire rope within the rope grooves. The design of the rope-supporting pulleys allows the wire rope to be tightly attached to the grooves of the rope-supporting pulleys during operation, preventing the wire rope from slipping.

[0013] According to any of the foregoing embodiments of the present invention, the self-generating robot further includes a gripper, which is fixedly mounted on the wire rope. The robot component is connected to the wire rope via the gripper. The rotation of the drive wheel drives the wire rope to rotate between the drive wheel and the driven wheel. The robot component is fixedly connected to the wire rope via the gripper, and the rotation of the wire rope drives the robot component to run in the direction of the track.

[0014] According to any of the foregoing embodiments of the present invention, the distance between the driven pulley and the driving pulley is adjustable. Due to the temperature differences between winter and summer, the wire rope will deform due to thermal expansion and contraction. Adjustable distance between the driving and driven pulleys ensures that the wire rope remains taut at all times. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a three-dimensional schematic diagram of one embodiment of the self-generating robot of the present invention;

[0017] Figure 2 This is a three-dimensional schematic diagram of a robot component according to an embodiment of the self-generating robot of the present invention;

[0018] Figure 3 This is a cross-sectional schematic diagram of a robot component according to an embodiment of the self-generating robot of the present invention;

[0019] Figure 4 This is a three-dimensional schematic diagram of a dust removal device according to an embodiment of the self-generating robot of the present invention.

[0020] Explanation of reference numerals in the attached figures:

[0021] 100-Self-generating robot;

[0022] 110-track;

[0023] 120 - Conveying mechanism; 121 - Drive wheel; 122 - Driven wheel; 123 - Wire rope; 124 - Drive mechanism;

[0024] 130 - Robot component; 131 - Robot body; 132 - Generator wheel assembly; 132a - Upper roller; 132b - Lower roller; 132c - Side roller; 133 - Generator;

[0025] 140 - Dust removal device; 141 - Mounting bracket; 142 - Cleaning assembly; 143 - Guide wheel assembly;

[0026] 150-Rail support;

[0027] 160 - Rope support bracket; 161 - Rope support wheel; 161a - Upper rope support wheel; 161b - Lower rope support wheel;

[0028] 170-Holding device.

[0029] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention 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 the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0032] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0033] This invention provides a self-generating robot 100 (133), comprising a track 110, a conveying mechanism 120, a robot assembly 130, and a dust removal device 140. The track 110 extends along a first direction and is symmetrically arranged along a second direction, the first direction being perpendicular to the second direction. The conveying mechanism 120 includes a drive wheel 121, a driven wheel 122, a steel wire rope 123, and a drive mechanism 124. The drive wheel 121 and the driven wheel 122 are symmetrically arranged at both ends of the track 110 along the first direction. The steel wire rope 123 is closedly wound around the drive wheel 121 and the driven wheel 122. The drive mechanism 124 is capable of carrying... The drive wheel 121 rotates; the robot assembly 130 includes a robot body 131, a power generation wheel set 132, and a generator 133. The robot assembly 130 is fixedly connected to the wire rope 123, and the robot assembly 130 is movably connected to the track 110 through the power generation wheel set 132. The power generation wheel set 132 and the generator 133 are mounted on the robot body 131, and the power generation wheel set 132 can drive the generator 133 to run; the dust removal device 140 is connected to the robot assembly 130, and the robot assembly 130 can drive the dust removal device 140 to move along the track 110. The dust removal device 140 can be used to clean the track 110.

[0034] According to an embodiment of the present invention, the self-generating robot 133 100, such as Figure 1 As shown, drive wheel 121 and driven wheel 122 are respectively located at both ends of track 110. Drive mechanism 124 can drive drive wheel 121 to rotate. Wire rope 123 is wound between drive wheel 121 and driven wheel 122. The rotation of drive wheel 121 drives wire rope 123 to rotate between drive wheel 121 and driven wheel 122. Robot component 130 is fixedly connected to wire rope 123. When wire rope 123 moves, it drives robot component 130 to move together. Generator wheel set 132 rolls along track 110. The rotation of generator wheel set 132 is driven by the mechanism. The generator 133 operates, and the generator 133 is a servo motor. The generator 133 powers the self-generating robot 100's own lithium battery, enabling the mechanism to generate its own electricity. While working, it also cleans the track 110. The dust removal device 140 moves with the robot component 130, and the cleaning component 142 cleans the surface of the track 110, which can remove dust from the surface of the track 110 and remove foreign objects such as dust / magnetic debris to both sides of the track 110, thereby ensuring the normal operation of the self-generating robot 100.

[0035] In some embodiments, the power generation wheel assembly 132 includes an upper roller 132a, a lower roller 132b, and a side roller 132c. The upper roller 132a can drive the generator 133 to operate by rotation. The upper roller 132a rolls in contact with the upper surface of the track 110, the lower roller 132b rolls in contact with the lower surface of the track 110, and the side roller 132c rolls in contact with the side of the track 110. The track 110 has an H-shaped cross-section. The upper roller 132a, lower roller 132b, and side roller 132c can engage the side of the track 110 to prevent the robot component 130 from becoming unstable during operation. After the power generation wheel assembly 132 is pressed against the track 110, relative motion is generated. Due to the weight of the robot component 130 itself, the upper roller 132a always rolls stably relative to the track 110, continuously converting mechanical energy into electrical energy for the generator 133.

[0036] In some embodiments, the self-generating robot 100 133 includes two sets of power generation wheel sets 132, which are symmetrically arranged along the first direction. The two sets of power generation wheel sets 132 can completely enclose the cross-section of the track 110 in all directions, thereby allowing the self-generating robot 133 100 to operate stably in all directions during operation. The two sets of power generation wheel sets 132 are connected to the same generator 133, and the mechanical energy of both sets of power generation wheel sets 132 can be converted into electrical energy from the lithium battery of the generator 133.

[0037] In some embodiments, the dust removal device 140 includes a mounting frame 141, a cleaning assembly 142, and a guide wheel assembly 143. The mounting frame 141 is connected to the robot assembly 130. The cleaning assembly 142 is connected to the mounting frame 141 and contacts the surface of the track 110. When the dust removal device 140 moves with the robot assembly 130, the cleaning assembly 142 cleans the surface of the track 110. The guide wheel assembly 143 is connected to the mounting frame 141 and rolls with the track 110. When the self-generator 133 robot 100 is working, it is connected to the mounting frame 141 of the dust removal device 140 through the connecting rod and drives the dust removal component to move. The guide wheel assembly 143 of the dust removal component and the generator wheel assembly 132 of the self-generator 133 robot 100 have the same structure. The cleaning component 142 includes two cleaning parts, which are symmetrically installed on both sides of the mounting frame 141 along the first direction of the track 110 to ensure the removal of dust from the sides of the track 110.

[0038] In the above embodiments, each set of cleaning components 142 consists of 2 cleaning parts, but is not limited to 2; it can also consist of 5 or more. The cleaning parts are dust removal brushes, but are not limited to dust removal brushes; roller brushes can also be used. The dust removal brushes are made of relatively hard bristles, and the brushes on both sides are mounted on the mounting bracket 141 and contact the surface of the track 110 to ensure the removal of dust from the sides of the track 110.

[0039] In some embodiments, the self-generating robot 100 133 includes two sets of dust removal devices 140, which are symmetrically arranged along the first direction. The two sets of dust removal devices 140 are located on both sides of the track 110, and can clean both sides of the track 110 simultaneously.

[0040] In the above embodiments, the number of upper rollers 132a is 2, but it can also be 5 or more; the number of lower rollers 132b is 4, but it can also be 5 or more; the number of side rollers 132c is 4, but it can also be 5 or more.

[0041] In some embodiments, the self-generating robot 100 further includes a plurality of track supports 150, and the track 110 is fixedly mounted on the plurality of track supports 150. The track supports 150 are vertically arranged, the track 110 is mounted on the track supports 150, the track 110 is spaced apart from the ground, and the robot component 130 is movably mounted on the track 110. In this embodiment, the number of track supports 150 is three.

[0042] In some embodiments, the self-generating robot 100 133 further includes multiple rope-supporting wheel brackets 160, which are fixedly connected to the track 110 and are used to limit the steel wire rope 123. The rope-supporting wheel brackets 160 are fixedly mounted on the track 110, and their left and right ends can limit the steel wire rope 123, ensuring the stability of the steel wire rope 123 during operation. In this embodiment, there are two rope-supporting wheel brackets 160, and the robot component 130 runs on the track 110 with two rope-supporting wheel brackets 160.

[0043] In some embodiments, each of the rope-supporting pulley brackets 160 includes two sets of rope-supporting pulleys 161 symmetrically arranged relative to the first direction. Each set of rope-supporting pulleys 161 includes an upper rope-supporting pulley 161a and a lower rope-supporting pulley 161b. The upper rope-supporting pulley 161a and the lower rope-supporting pulley 161b are provided with rope grooves in their circumference, which can confine the wire rope 123 within the rope grooves. The design of the rope-supporting pulleys 161 allows the wire rope 123 to fit tightly against the grooves of the rope-supporting pulleys 161 during operation, preventing slippage of the wire rope 123 and making the operation of the robot component 130 more stable.

[0044] In some embodiments, the self-generating robot 100 133 further includes a cable gripper 170, which is fixedly mounted on the wire rope 123. The robot component 130 is connected to the wire rope 123 via the cable gripper 170. The rotation of the drive wheel causes the wire rope 123 to rotate between the drive wheel and the driven wheel 122. The robot component 130 is fixedly connected to the wire rope 123 via the cable gripper 170. The rotation of the wire rope 123 causes the robot component 130 to run in the direction of the track 110, ensuring smooth and safe operation of the wire rope 123.

[0045] In some embodiments, the distance between the driven pulley 122 and the driving pulley is adjustable. Due to temperature differences between winter and summer, the wire rope 123 will deform due to thermal expansion and contraction. The adjustable distance between the driving and driven pulleys 122 ensures that the wire rope 123 remains taut and does not slip relative to either the driving or driven pulley 122.

[0046] In this embodiment of the invention, the self-generating robot 100 (133) moves at a constant speed on the track 110 under the traction of the steel wire rope 123. By pressing the drive wheel against the upper surface of the track 110, the drive wheel transmits its rotational speed to the generator 133 through a reducer, allowing it to reach its rated speed. After passing through an energy storage element and a voltage regulator module, a stable DC power supply is output, enabling self-generation. Furthermore, it can operate in explosive gas environments, allowing the inspection robot to truly achieve 24-hour unattended operation. This invention is suitable for operation in explosive gas environments, can climb steep slopes, and requires no charging during the inspection process.

[0047] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made under the concept of the present invention using the description and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A self-generating robot, characterized in that, include: The track extends along a first direction and is symmetrically arranged along a second direction, wherein the first direction is perpendicular to the second direction; A conveying mechanism includes a drive wheel, a driven wheel, a wire rope, and a drive mechanism. The drive wheel and the driven wheel are symmetrically arranged at both ends of the track along the first direction. The wire rope is closedly wound around the drive wheel and the driven wheel. The drive mechanism can drive the drive wheel to rotate. A robot assembly includes a robot body, a power generation wheel assembly, and a generator. The robot assembly is fixedly connected to the steel wire rope and movably connected to the track via the power generation wheel assembly. The power generation wheel assembly and the generator are mounted on the robot body, and the power generation wheel assembly can drive the generator to operate. A dust removal device is connected to the robot assembly, which can drive the dust removal device to move along the track, and the dust removal device can be used to clean the track.

2. The self-generating robot as described in claim 1, characterized in that, The generator set includes an upper roller, a lower roller, and a side roller. The upper roller can drive the generator to run by rotating. The upper roller rolls in contact with the upper surface of the track, the lower roller rolls in contact with the lower surface of the track, and the side rollers roll in contact with the side of the track.

3. The self-generating robot as described in claim 2, characterized in that, The self-generating robot includes two sets of power-generating wheel sets, which are symmetrically arranged along the first direction.

4. The self-generating robot as described in claim 1, characterized in that, The dust removal device includes: Mounting frame, which is connected to the robot assembly; A cleaning assembly is connected to the mounting frame and contacts the track surface. When the dust removal device moves with the robot assembly, the cleaning assembly cleans the track surface. The guide wheel assembly is connected to the mounting frame and rolls with the track.

5. The self-generating robot as described in claim 4, characterized in that, The self-generating robot includes two sets of dust removal devices, which are symmetrically arranged along the first direction.

6. The self-generating robot as described in claim 1, characterized in that, The self-generating robot also includes multiple track supports, and the track is fixedly installed on the multiple track supports.

7. The self-generating robot as described in claim 6, characterized in that, The self-generating robot also includes multiple rope-supporting wheel brackets, which are fixedly connected to the track and are used to limit the steel wire rope.

8. The self-generating robot as described in claim 7, characterized in that, Each of the aforementioned rope-supporting pulley brackets includes two sets of rope-supporting pulleys symmetrically arranged relative to the first direction. Each set of rope-supporting pulleys includes an upper rope-supporting pulley and a lower rope-supporting pulley. The upper rope-supporting pulley and the lower rope-supporting pulley are provided with rope grooves in their circumferences, and the upper rope-supporting pulley and the lower rope-supporting pulley can confine the wire rope within the rope grooves.

9. The self-generating robot as described in claim 1, characterized in that, The self-generating robot also includes a gripper, which is fixedly mounted on the steel wire rope, and the robot components are connected to the steel wire rope through the gripper.

10. The self-generating robot as described in claim 1, characterized in that, The distance between the driven wheel and the driving wheel is adjustable.

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