Wall-climbing robot for cleaning

Abstract

The invention provides a wall-climbing robot for cleaning. The wall-climbing robot comprises a frame; the walking part is arranged on the frame and used for driving the frame to move; the first nozzle set is arranged on the front side of the frame in the moving direction of the frame and comprises a plurality of first nozzles which are arranged forwards and communicate with a high-pressure water source; the second nozzle set is arranged on the rear side of the frame in the moving direction of the frame and comprises a plurality of second nozzles which are arranged backwards and communicate with the high-pressure water source; the number of the first nozzles is smaller than that of the second nozzles. The wall-climbing robot has the beneficial effects that the number of the first nozzles arranged forwards is smaller than that of the second nozzles arranged backwards, so that the backward acting force borne by the wall-climbing robot is smaller than the forward acting force borne by the wall-climbing robot when the nozzle set sprays water; the driving motor and the second nozzle set in the walking part provide driving force for advancing of the wall-climbing robot at the same time, so that the overall load of the driving motor can be reduced, and the service life of the driving motor is prolonged.

Description

Technical Field

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

[0002] Ships that have been sailing or anchored in water for a long time have a lot of attached materials on their outer walls, such as seaweed, moss, shells and other aquatic organisms. At the same time, there are also a lot of rust and dirt on the inner walls of the ships. Currently, magnetic wall-climbing robots are often used to clean the inner and outer walls of ships.

[0003] Existing magnetic wall-climbing robots typically consist of a frame, a nozzle assembly located at the front of the frame and connected to a high-pressure water source, and wheels and permanent magnets mounted on the frame. The permanent magnets magnetically adhere to the ship's steel hull, preventing the robot from slipping. The wheels rotate under the drive of a motor, propelling the robot along the hull. The nozzle assembly sprays high-pressure water forward during the robot's movement, cleaning the ship's surface. However, as the nozzles spray water forward, the robot experiences a backward force. To maintain a constant walking speed, the drive motor needs to provide greater torque to overcome this backward force, which undoubtedly increases the load on the drive motor and shortens its lifespan. Summary of the Invention

[0004] To address the shortcomings of the prior art, the present invention aims to provide a wall-climbing robot for cleaning, which reduces the load on the drive motor of the walking wheels by improving the arrangement of the nozzle group.

[0005] This invention provides a wall-climbing robot for cleaning, comprising: a frame; a walking unit disposed on the frame for driving the frame to move; a magnetic adsorption unit disposed at the bottom of the frame; a first nozzle group disposed on the front side of the frame along the direction of movement of the frame, comprising a plurality of forward-facing first nozzles connected to a high-pressure water source; and a second nozzle group disposed on the rear side of the frame along the direction of movement of the frame, comprising a plurality of rearward-facing second nozzles connected to a high-pressure water source; the number of the first nozzles is less than the number of the second nozzles.

[0006] Preferably, the walking unit includes two drive wheels and two omnidirectional wheels, each drive wheel is equipped with a corresponding drive motor and rotates under the drive of the drive motor; the omnidirectional wheels are located in front of the drive wheels.

[0007] Preferably, the magnetic adsorption part includes a plurality of arc-shaped magnets, the front and rear ends of which are movable up and down and connected to the vehicle frame.

[0008] Preferably, the magnetic adsorption part further includes several connecting seats connected to the vehicle frame. The connecting seats have through holes that extend vertically. Each end of the magnet has a bolt that is movably inserted into the through hole.

[0009] Preferably, each first nozzle is adjustablely connected to the frame.

[0010] Preferably, the second nozzle group further includes a linear displacement drive source, a mounting base, and a base. The linear displacement drive source is hinged to the vehicle frame, and its output end is hinged to the upper end of the mounting base. The lower end of the mounting base is hinged to the base via a swing arm. The base is located on the rear side of the vehicle frame, and the plurality of second nozzles are all located on the mounting base.

[0011] Preferably, the two second nozzles in the second nozzle group are respectively positioned facing the upper left and upper right. When the cleaning wall-climbing robot moves along the inner wall of the cabin connected with ribs, the two second nozzles are used to clean the corners of the ribs.

[0012] Preferably, the frame is also provided with a sling for connecting a safety rope.

[0013] Preferably, the frame is further provided with an electrical control box for housing the controller, which is connected to the running gear.

[0014] Preferably, the frame is further provided with a water pipe for connecting the first nozzle group and the second nozzle group, and the water pipe is provided with a water pipe connector for connecting the high-pressure water source.

[0015] The advantages of this invention are: 1. By making the number of the first nozzles facing forward less than the number of the second nozzles facing backward, the backward force on the wall-climbing robot when the nozzle group sprays water is less than the forward force it experiences. The drive motor in the walking unit and the second nozzle group simultaneously provide driving force for the wall-climbing robot's forward movement. Therefore, the overall load on the drive motor can be reduced, and the service life of the drive motor can be extended.

[0016] 2. The forward-facing first nozzle can also clean the movement path of the walking part in advance to prevent the walking part from slipping.

[0017] 3. Both ends of the magnet in the magnetic adsorption section can be moved up and down to connect with the frame, allowing the magnet to flexibly avoid obstacles on the surface to be cleaned and avoid hard collisions with obstacles that could damage the magnetic adsorption section. Attached Figure Description

[0018] Figure 1 and Figure 2These are perspective views of the wall-climbing robot for cleaning according to the present invention from different viewpoints; Figure 3 This is a side view of the wall-climbing robot for cleaning according to the present invention (with the casters and drive wheels removed). Figure 4 A schematic diagram showing the connection structure between the second magnet and the vehicle frame; Figure 5 This is a schematic diagram of the working state of the wall-climbing robot for cleaning according to the present invention as it moves along the inner wall of the ship's cabin.

[0019] Component designation explanation: 1-Chassis; 11-Electrical control box; 2-Hanging ring; 3-Traversing unit; 31-Universal caster; 32-Drive caster; 4-First nozzle group; 41-First nozzle; 42-Nozzle connector; 5-Second nozzle assembly; 51-Second nozzle; 52-Mounting base; 53-Connector; 54-Swing arm; 55-Base; 56-Linear displacement drive source; 57-Bracket; 6-First adsorption component; 61-First magnet; 62-First bolt; 63-First connector; 7-Second adsorption component; 71-Second magnet; 72-Second bolt; 73-Second connecting seat; 731-Second through hole; 732-Gap; 74-Washer; 75-Nut; 8 - Water pipe; 81 - Water pipe fitting; 9 - Inner wall of the cabin; 91 - Rib; 911 - Rib corner. Detailed Implementation

[0020] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. These embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0021] In the description of this invention, it should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and 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. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0024] Figure 3 The image shown is a side view of the wall-climbing robot for cleaning according to the present invention. In the following description, it will be referred to as... Figure 3 The attached diagram serves as a reference for direction. Figure 3 In the diagram, the direction perpendicular to the view paper and facing outwards is the left direction, the direction perpendicular to the view paper and facing inwards is the right direction, the direction upwards along the view paper is the up direction, the direction downwards along the view paper is the down direction, the direction forwards along the right side of the view paper is the front direction, and the direction backwards along the left side of the view paper is the back direction.

[0025] like Figure 1 and Figure 2 As shown, this invention provides a wall-climbing robot for cleaning, comprising a frame 1, a walking unit 3, a magnetic adsorption unit, a first nozzle group 4, and a second nozzle group 5. The walking unit 3 is mounted on the frame 1 and drives the frame 1 to move. The magnetic adsorption unit is located at the bottom of the frame 1 and magnetically attaches the frame 1 to the surface to be cleaned, preventing the robot from slipping off. The first nozzle group 4 is located on the front side of the frame 1 along the direction of movement and includes several forward-facing first nozzles 41 connected to a high-pressure water source. The second nozzle group 5 is located on the rear side of the frame 1 along the direction of movement and includes several rearward-facing second nozzles 51 connected to a high-pressure water source. The number of first nozzles 41 is less than the number of second nozzles 51.

[0026] The specific form of the walking unit 3 is not limited. It can be an existing tracked walking structure, including a drive wheel, a driven wheel, and a track wrapped around the outside of the drive wheel and the driven wheel. When the drive motor drives the drive wheel to rotate, the track rotates accordingly to achieve the walking function. Alternatively, it can be a wheeled walking structure used in a specific embodiment of the present invention, including two drive wheels 32 and two omnidirectional wheels 31. The two drive wheels 32 are respectively located on the left and right sides of the frame 1, and each drive wheel 32 is equipped with a corresponding drive motor and rotates under the drive of the drive motor. The two omnidirectional wheels 31 are respectively located on the left and right sides of the frame 1, and the omnidirectional wheels 31 are located in front of the drive wheels 32. The four wheels make the movement of the wall-climbing robot on the surface to be cleaned more stable.

[0027] When the wall-climbing robot provided by the present invention performs cleaning operations on the surface to be cleaned, since the number of the first nozzles 41 arranged in front is less than the number of the second nozzles 51 arranged in rear, the backward force on the wall-climbing robot is less than the forward force it receives. The drive motor and the second nozzle group 5 in the walking part 3 simultaneously provide driving force for the wall-climbing robot to move forward, thus reducing the overall load on the drive motor and extending the service life of the drive motor.

[0028] Furthermore, the magnetic adsorption unit includes several arc-shaped magnets arranged along the front-to-back direction, with both ends capable of moving up and down to connect to the frame 1. During normal operation of the wall-climbing robot, the magnets maintain magnetic adsorption to the surface to be cleaned; when the wall-climbing robot passes over obstacles on the surface to be cleaned, both ends of the magnets can move upward to avoid the obstacles and prevent hard collisions that could damage the magnetic adsorption unit.

[0029] Specifically, the magnetic adsorption part also includes several connecting seats connected to the frame 1. The connecting seats have through holes that run vertically through each other. Each of the front and rear ends of the magnet has a bolt, and the bolts are movably inserted into the through holes one by one.

[0030] like Figure 1-3 As shown, in a preferred embodiment of the present invention, the magnetic adsorption part includes a first adsorption component 6 and two second adsorption components 7.

[0031] The first adsorption assembly 6 is disposed between two casters 31 and includes a first magnet 61 that is arc-shaped and arranged in the front-to-back direction, and a first connecting seat 63 connected to the frame 1. Each of the front and rear ends of the first magnet 61 has an upwardly extending first bolt 62. Each of the front and rear ends of the first connecting seat 63 has a vertically penetrating first through hole. The two first bolts 62 are respectively movably inserted into the two first through holes, with a gap between them and the first through holes, allowing the first bolts 62 to slightly wiggle within the first through holes. Simultaneously, a first spring is fitted onto the first bolt 62, which can apply an elastic force close to the surface to be cleaned to the first magnet 61, ensuring that the first magnet 61 maintains elastic contact with the surface to be cleaned.

[0032] like Figure 2-4As shown, two second adsorption components 7 are disposed between two drive wheels 32. Each second adsorption component 7 includes an arc-shaped second magnet 71 arranged in the front-rear direction, and two second connecting seats 73 distributed in the front-rear direction and connected to the frame 1. Each of the front and rear ends of the second magnet 71 is provided with an upwardly extending second bolt 72. Each second connecting seat 73 has a through hole 731 extending vertically, and the two second bolts 72 are respectively movably inserted into the two through holes 731. A washer 74 and a nut 75 are also provided at the upper end. A gap 732 exists between the second bolt 72 and the second through hole 731, allowing the second bolt 72 to slightly wiggle within the through hole 731. Preferably, a second spring is also fitted onto the second bolt 72, which can apply an elastic force close to the surface to be cleaned to the second magnet 72, so that the second magnet 71 maintains elastic contact with the surface to be cleaned.

[0033] During the operation of a wall-climbing robot, there is a possibility that the robot may slip due to an excessively large angle of inclination of the surface to be cleaned. For safety reasons, if... Figure 1-3 As shown, the present invention preferably includes a sling 2 on the frame 1 for connecting a safety rope. With the safety rope in place, even if the wall-climbing robot slips off the surface to be cleaned, the safety rope can suspend the robot, thereby eliminating the risk of damage or personal injury caused by the robot's rapid fall.

[0034] like Figure 1-3 As shown, in a specific embodiment of the present invention, each first nozzle 41 is angularly and adjustablely connected to the frame 1. Specifically, each first nozzle 41 is connected to the frame 1 via a nozzle connector 42. By adjusting the angle of the nozzle connector 42 relative to the frame 1, the angle of the first nozzle 41 relative to the frame 1 can be adjusted. Preferably, the first nozzle group 4 includes two first nozzles 41 respectively disposed on the left and right sides of the frame 1. The two first nozzles 41 are located on the front side of the walking part 3, with one first nozzle 41 facing downward to the left and the other facing downward to the right. The two first nozzles 41 can simultaneously spray water jets onto the left and right paths located in front of the wall-climbing robot, pre-washing the movement path of the walking part 3 and preventing the walking part 3 from slipping on dirty surfaces.

[0035] Furthermore, such as Figure 2 and Figure 3As shown, the second nozzle group 5 also includes a linear displacement drive source 56, a mounting base 52, and a base 55. A bracket 57 is provided on the frame 1. The linear displacement drive source 56 is hinged to the upper end of the bracket 57, and its output end is hinged to the upper end of the mounting base 52 via a connector 53. The lower end of the mounting base 52 is hinged to the base 55 via a pair of swing arms 54. The base 55 is located on the rear side of the frame 1, and multiple second nozzles 51 are mounted on the mounting base 52. When the output end of the linear displacement drive source 56 extends or retracts, it can push the mounting base 52 to swing downwards or upwards, thereby changing the angle of each second nozzle 51 on the mounting base 52. Preferably, five rearward-facing second nozzles 51 are mounted on the mounting base 52, and the five second nozzles 51 have different angles, which can comprehensively clean the surface traversed by the wall-climbing robot. The form of the linear displacement drive source 56 is not limited; it can be an electric push rod, a hydraulic cylinder, a pneumatic cylinder, or other device capable of outputting linear displacement. Specifically, this invention uses an electric push rod.

[0036] Furthermore, such as Figure 5 As shown, the two second nozzles 51 in the second nozzle group 5 are respectively positioned facing the upper left and upper right. When the surface to be cleaned is the inner wall 9 of the cabin connected with ribs 91, during the process of the wall-climbing robot moving along the inner wall 9 of the cabin, the two second nozzles 51 can simultaneously spray water jets towards the upper left and upper right of the rear side of the wall-climbing robot to clean the rib corners 911 of the ribs 91 located on the left and right sides of the wall-climbing robot.

[0037] Those skilled in the art can change the specific number of the first nozzle 41 and the second nozzle 51 as needed, while ensuring that the number of the first nozzle 41 is less than the number of the second nozzle 51, and can achieve the same technical effect as the present invention.

[0038] Furthermore, such as Figure 3 As shown, the frame 1 is also equipped with a water pipe 8 for connecting the first nozzle group 4 and the second nozzle group 5, and the water pipe 8 is equipped with a water pipe connector 81 for connecting a high-pressure water source. The high-pressure water flow entering the water pipe 8 through the water pipe connector 81 is transformed into a high-velocity water jet by the first nozzle 41 and the second nozzle 51, which has an impact and abrasive effect on the dirt on the surface to be cleaned.

[0039] Furthermore, such as Figure 1-3 As shown, the frame 1 is also equipped with an electrical control box 11 for housing the controller. The controller is connected to the drive motor and the external controller respectively, so that the external controller can control the wall-climbing robot to perform actions such as starting, stopping, moving forward, moving backward or turning.

[0040] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A wall-climbing robot for cleaning, characterized in that, include: Frame (1); The walking part (3) is disposed on the frame (1) and is used to drive the frame (1) to move; A magnetic adsorption part is provided at the bottom of the frame (1); The first nozzle group (4) is arranged on the front side of the frame (1) along the moving direction of the frame (1), including a number of first nozzles (41) facing forward and connected to a high-pressure water source. The second nozzle group (5) is arranged on the rear side of the frame (1) along the moving direction of the frame (1), and includes a plurality of rearward-facing second nozzles (51) connected to a high-pressure water source. The number of the first nozzles (41) is less than the number of the second nozzles (51).

2. The wall-climbing robot for cleaning according to claim 1, characterized in that, The walking part (3) includes two drive wheels (32) and two omnidirectional wheels (31). Each drive wheel (32) is equipped with a drive motor and rotates under the drive of the drive motor. The omnidirectional wheels (31) are located in front of the drive wheels (32).

3. The wall-climbing robot for cleaning according to claim 1, characterized in that, The magnetic adsorption part includes several arc-shaped magnets, and the front and rear ends of the magnets are movable up and down and connected to the frame (1).

4. The wall-climbing robot for cleaning according to claim 3, characterized in that, The magnetic adsorption part also includes several connecting seats connected to the frame (1). The connecting seats have through holes that extend vertically. Each end of the magnet has a bolt that is movably inserted into the through hole.

5. The wall-climbing robot for cleaning according to claim 1, characterized in that, Each first nozzle (41) is angle-adjustably connected to the frame (1).

6. The wall-climbing robot for cleaning according to claim 1, characterized in that, The second nozzle group (5) further includes a linear displacement drive source (56), a mounting base (52) and a base (55). The linear displacement drive source (56) is hinged to the frame (1), and its output end is hinged to the upper end of the mounting base (52). The lower end of the mounting base (52) is hinged to the base (55) through a swing arm (54). The base (55) is located on the rear side of the frame (1). The plurality of second nozzles (51) are all located on the mounting base (52).

7. The wall-climbing robot for cleaning according to claim 1 or 6, characterized in that, The two second nozzles (51) in the second nozzle group (5) are respectively positioned facing the upper left and upper right. When the cleaning wall-climbing robot moves along the inner wall (9) of the cabin connected with the rib plate (91), the two second nozzles (51) are used to clean the rib plate corner (911) of the rib plate (91).

8. The wall-climbing robot for cleaning according to claim 1, characterized in that, The frame (1) is also provided with a sling (2) for connecting a safety rope.

9. The wall-climbing robot for cleaning according to claim 1, characterized in that, The frame (1) is also provided with an electrical control box (11) for housing the controller, which is connected to the walking unit (3).

10. The wall-climbing robot for cleaning according to claim 1, characterized in that, The frame (1) is also provided with a water pipe (8) for connecting the first nozzle group (4) and the second nozzle group (5), and the water pipe (8) is provided with a water pipe connector (81) for connecting the high-pressure water source.

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