A pressure self-adaptive adjusting mechanism of a working head of a cleaning robot

Abstract

The application discloses a kind of operation head pressure self-adapting adjusting mechanism of cleaning mechanical arm, it is related to manipulator technical field, including the displacement component of anti-blocking frame, and by mechanical arm provides adaptive displacement, by the upper cylinder and lower cylinder of coarse adjustment component, apply rough cleaning measures, and by the fine adjustment block of fine adjustment component, provide fine cleaning switching condition.The application improves the adjustment flexibility and degree of freedom of mechanical arm, meets the dead angle cleaning adjustment demand of mechanical arm to tunnel inner wall and billboard, synchronously uses the way of opposite rotation, by the impurities attached to tunnel inner wall by mechanical arm, apply different rotating direction rough friction, realize the adaptive adjustment effect of bidirectional rough friction, and adopt the adaptive displacement mode of different friction coefficient friction pad, by mechanical arm to meet the rough adjustment pressure cleaning demand of hard texture tunnel inner wall, and mechanical arm to soft texture billboard and its identification paint surface, realize fine cleaning pressure cleaning effect, complete coarse / fine adjustment pressure operation.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to an adaptive pressure adjustment mechanism for the working head of a cleaning robotic arm. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected tasks. In terms of structure and performance, it combines the advantages of both humans and machines. Multi-joint robotic arms have the advantages of flexible movement, low motion inertia, and strong versatility. They can grasp workpieces close to the base and can work around obstacles between the body and the working machine. They can be used for cleaning tunnel walls and billboards.

[0003] When using robotic arms to clean the tunnel walls and billboards, the tunnel walls, composed of concrete and rock strata, are relatively hard, while the billboards and their painted surfaces are relatively soft. If the same cleaning method is applied to both, a stronger cleaning force will clean the tunnel walls thoroughly, but the billboards and their painted surfaces will be scratched and damaged due to excessive cleaning force. A weaker cleaning force can protect the billboards and their painted surfaces, but the tunnel walls will not be cleaned properly, requiring frequent replacement of cleaning parts with different friction coefficients, which is counterproductive. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above and / or existing adaptive pressure adjustment mechanisms of the working head of cleaning robotic arms, the present invention is proposed.

[0006] Therefore, the problem to be solved by this invention is how to achieve adaptive pressure regulation of the tunnel wall and billboard without replacement.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an adaptive adjustment mechanism for the working head pressure of a cleaning robot arm, including a displacement component with a guard, which provides adaptive displacement through the robot arm, applies coarse cleaning measures by the upper and lower rollers of the coarse adjustment component, and provides fine cleaning switching conditions by the fine adjustment rollers of the fine adjustment component.

[0008] As a preferred embodiment of the adaptive adjustment mechanism for the working head pressure of the cleaning robotic arm described in this invention, the displacement component further includes a fixed slide rail fixed on an external traction vehicle, and an electric slide rail seat is provided on the fixed slide rail. An electric telescopic rod is hinged on the electric slide rail seat, and a swing arm frame fixed to the robotic arm is hinged on the electric telescopic rod.

[0009] As a preferred embodiment of the adaptive pressure adjustment mechanism of the working head of the cleaning robot arm described in this invention, the robot arm is fixed with a connecting frame that is fixed to a guardrail, and a dust cover is horizontally placed on the inner side of the connecting frame. A side scraper is vertically placed on the inner side of the guardrail, and the side scraper is in contact with the upper roller and the lower roller.

[0010] As a preferred embodiment of the adaptive adjustment mechanism for the working head pressure of the cleaning robotic arm described in this invention, the coarse adjustment component further includes a continuously variable transmission (CVT) motor fixed to the bottom of the guardrail, and the output shaft of the CVT motor is fixed with a drive shaft rod fixed to the lower roller; a drive gear is sleeved on the drive shaft rod, and a central gear meshes with the drive gear; a driven gear meshes with the central gear, and a driven shaft rod fixed to the upper roller is sleeved inside the driven gear.

[0011] As a preferred embodiment of the adaptive pressure adjustment mechanism of the working head of the cleaning robot arm described in this invention, the upper and lower rollers are provided with main friction pads on their outer sides, and the upper and lower rollers are provided with annular grooves that rotate with the dust cover.

[0012] As a preferred embodiment of the adaptive adjustment mechanism for the working head pressure of the cleaning robot arm described in this invention, the inner side of the guardrail is fixed with a support plate that rotates with the central gear, and the inner sides of the upper and lower rollers are fixed with T-shaped seats in a triangular equidistant shape. The upper and lower sides of the support plate are both provided with T-shaped grooves that slide with the T-shaped seats in annular shape.

[0013] As a preferred embodiment of the adaptive adjustment mechanism for the working head pressure of the cleaning robotic arm described in this invention, the fine-tuning component further includes a hidden cavity circumferentially formed on the upper and lower rollers, and a concentric shaft fixed to the fine-tuning roller rotates within the hidden cavity, the fine-tuning roller rotating with the hidden cavity; an outer friction pad is provided on the outer side of the fine-tuning roller, and an inner friction pad is provided on the inner side of the fine-tuning roller, and secondary friction pads are provided on both sides of the fine-tuning roller, classified according to the friction coefficient as follows: outer friction pad > main friction pad > inner friction pad > secondary friction pad.

[0014] As a preferred embodiment of the adaptive pressure adjustment mechanism of the working head of the cleaning robot arm described in this invention, an electric push rod is embedded on the outer side of the concentric shaft, and a small gear is fixed on the outer side of the electric push rod, and a large gear ring is fixed inside the dust cover.

[0015] As a preferred embodiment of the adaptive pressure adjustment mechanism of the working head of the cleaning robot arm described in this invention, an angle sensor is fixed to the outside of the pinion, and a dust cover is used to cover and protect the pinion and the large gear ring from dust.

[0016] As a preferred embodiment of the adaptive pressure adjustment mechanism of the working head of the cleaning robot arm described in this invention, a ratchet is sleeved on the inner side of the concentric shaft, and a pawl is snapped onto the outer side of the ratchet, and a compression spring is fixed on the outer side of the pawl.

[0017] The beneficial effects of this invention are as follows: The fixed slide rail and electric slide rail seat allow for lateral displacement adjustment of the robotic arm's cleaning stroke, while the electric telescopic rod and swing arm frame allow for angle adjustment of the robotic arm's turning direction, improving the robotic arm's adjustment flexibility and freedom. This meets the robotic arm's need for thorough cleaning of tunnel walls and billboards without blind spots. Simultaneously, the opposing rotation method allows the robotic arm to apply coarse friction force in different rotation directions to impurities adhering to the tunnel walls, achieving an adaptive adjustment effect of bidirectional coarse friction force. Furthermore, the adaptive displacement method using friction pads with different friction coefficients allows the robotic arm to meet the coarse pressure adjustment cleaning needs of harder tunnel walls, especially impurities adhering to concrete and rock layers, and to achieve fine pressure adjustment cleaning of softer billboards and their painted surfaces. This completes both coarse and fine pressure adjustment operations without frequent changes of cleaning supplies, saving time and effort, and has a wide range of applications. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. 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 these drawings without creative effort.

[0019] Figure 1 The main view of the overall structure of the adaptive pressure adjustment mechanism of the cleaning robot arm's working head.

[0020] Figure 2 A magnified bottom view of a portion of the adaptive pressure adjustment mechanism for the working head of a cleaning robotic arm.

[0021] Figure 3 Top view of the initial state of the coarse adjustment component and fine adjustment component of the adaptive pressure adjustment mechanism for the working head of the cleaning robot arm.

[0022] Figure 4 A top view of the coarse and fine adjustment components of the adaptive pressure adjustment mechanism for the working head of a cleaning robotic arm, in pressure adjustment mode.

[0023] Figure 5Exploded top sectional view of the coarse adjustment component of the adaptive pressure adjustment mechanism for the working head of the cleaning robot arm.

[0024] Figure 6 A partial bottom view of the coarse adjustment component of the adaptive pressure adjustment mechanism for the working head of a cleaning robotic arm.

[0025] Figure 7 Top sectional view of the fine-tuning component of the adaptive pressure adjustment mechanism for the working head of a cleaning robotic arm.

[0026] Figure 8 A partial bottom view of the fine-tuning assembly of the adaptive pressure adjustment mechanism for the working head of a cleaning robotic arm.

[0027] In the diagram: 1. Guardrail; 21. Fixed slide rail; 22. Electric slide rail base; 23. Electric telescopic rod; 24. Swing arm frame; 25. Robotic arm; 26. Connecting frame; 27. Dust cover; 31. Continuously variable speed motor; 32. Drive shaft; 33. Drive gear; 34. Intermediate gear; 35. Driven gear; 36. Driven shaft; 37. Upper roller; 38. Lower roller; 39. Main friction pad; 4. Annular groove; 5. Side scraper; 6. Support plate; 7. T-slot; 8. T-slot; 91. Hidden cavity; 92. Concentric shaft; 93. Fine-tuning roller; 94. Outer friction pad; 95. Inner friction pad; 96. Secondary friction pad; 97. Electric push rod; 98. Pinion; 99. Large gear ring; 10. Angle sensor; 11. Ratchet; 12. Pad; 13. Compression spring. Detailed Implementation

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0031] Example 1, referring to Figures 1 to 8This is the first embodiment of the present invention. This embodiment provides an adaptive adjustment mechanism for the working head pressure of a cleaning robotic arm, including a displacement component with a guard 1, and provides adaptive displacement through the robotic arm 25, thereby improving the adjustment flexibility and freedom of the robotic arm 25 and meeting the adjustment requirements of the robotic arm 25 for cleaning tunnel walls and billboards without dead angles.

[0032] Specifically, the displacement component also includes a fixed slide rail 21 fixed on the external tractor, and an electric slide rail seat 22 is provided on the fixed slide rail 21. Since the tunnel is usually long, the external tractor drives the robotic arm 25 to travel the entire length of the tunnel. During this time, the electric slide rail seat 22 is controlled to slide horizontally on the fixed slide rail 21 to adjust the short-distance stroke of the robotic arm 25. Thus, the external tractor can travel a certain distance and stop for maintenance, without having to travel continuously.

[0033] The distance of this section does not exceed the length of the fixed slide rail 21. At the same time, the length of the fixed slide rail 21 is the same as the side door of the external tractor, which forces the electric slide rail slide block 22 to drive the robotic arm 25 to perform the farthest displacement adjustment on the fixed slide rail 21, which is the same length as the side door.

[0034] An electric telescopic rod 23 is hinged to the electric slide rail 22, and a swing arm frame 24 fixed to the robotic arm 25 is hinged to the electric telescopic rod 23. The electric telescopic rod 23 pushes and pulls the swing arm frame 24 to perform outward / inward movements on the robotic arm 25, expanding the angle adjustment range of the robotic arm 25's turning direction, resulting in a larger working area and greater flexibility.

[0035] Specifically, the robotic arm 25 is fixed with a connecting frame 26 that is fixed to the guardrail 1. A dust cover 27 is horizontally placed on the inner side of the connecting frame 26, and a side scraper 5 is vertically placed on the inner side of the guardrail 1. The side scraper 5 is in contact with the upper roller 37 and the lower roller 38. The side scraper 5 scrapes away the impurities adhering to the upper roller 37, the lower roller 38, and the friction pads with different friction coefficients, thereby improving the cleanliness of the upper roller 37, the lower roller 38, and the friction pad areas with different friction coefficients and reducing the burden of manual cleaning.

[0036] Example 2, refer to Figures 1 to 8 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0037] The upper roller 37 and lower roller 38 of the coarse adjustment component apply coarse cleaning measures. By rotating in opposite directions, the robotic arm 25 applies coarse friction force in different rotation directions to the impurities attached to the inner wall of the tunnel, thereby achieving an adaptive adjustment effect of bidirectional coarse friction force.

[0038] Specifically, it also includes a continuously variable motor 31 fixed at the bottom of the guardrail 1, and the output shaft of the continuously variable motor 31 is fixed with a drive shaft 32 fixed to the lower roller 38. The continuously variable motor 31 drives the lower roller 38 to rotate adaptively through the drive shaft 32.

[0039] The onboard computer adjusts the drive gear of the continuously variable transmission (CVT) motor 31 to achieve three gear settings: fast, medium, and slow. This is to cope with the rock and concrete on the tunnel walls, as well as the cleaning of billboards. Since the rock is the hardest, the CVT motor 31 can be adjusted to the highest gear. For concrete, the gear can be adjusted to the medium gear. And for billboards, which are relatively soft, the gear can be adjusted to the low gear. Furthermore, by adjusting the speed of the CVT motor 31, it can assist in regulating the pressure of coarse / fine friction.

[0040] A drive gear 33 is sleeved on the drive shaft 32, and a central gear 34 meshes with the drive gear 33. A driven gear 35 meshes with the central gear 34, and a driven shaft 36 fixed to the upper roller 37 is sleeved inside the driven gear 35.

[0041] In use, the drive shaft 32 drives the lower roller 38 to rotate, and at the same time drives the drive gear 33 to rotate. Then, the drive gear 33 drives the driven gear 35 to rotate in the opposite direction through the intermediate gear 34. The driven gear 35, which rotates in the opposite direction, drives the upper roller 37 to rotate in the opposite direction to the lower roller 38 through the driven shaft 36.

[0042] Specifically, the upper roller 37 and the lower roller 38 are equipped with main friction pads 39 on their outer sides. The upper roller 37 and the lower roller 38 rotate in opposite directions, driving the main friction pads 39 on them. They adopt a coarse friction pressure adjustment method in opposite directions, and are combined with the robotic arm 25 in the turning and displacement state to achieve a uniform and comprehensive cleaning operation on the inner wall of the tunnel, mainly for cleaning the concrete layer of the inner wall of the tunnel.

[0043] Furthermore, the upper roller 37 and the lower roller 38 are provided with annular grooves 4 that rotate with the dust cover 27. Through the annular grooves 4, the upper roller 37 and the lower roller 38 and the dust cover 27 are provided with rotational support, thereby improving the relative rotational stability of the outer edge areas of the upper roller 37 and the lower roller 38.

[0044] Specifically, the support plate 6, which rotates with the central gear 34, is fixed to the inner side of the baffle 1. The support plate 6 provides rotational support for the central gear 34. T-shaped seats 7 are fixed to the inner sides of the upper roller 37 and the lower roller 38 in a triangular equidistant shape. T-shaped grooves 8 that slide with the T-shaped seats 7 are opened in a ring on both the upper and lower sides of the support plate 6. Through the T-shaped seats 7 and the T-shaped grooves 8, rotational support is provided for the inner edge area of ​​the upper roller 37 and the lower roller 38, improving the overall stability of the upper roller 37 and the lower roller 38 during their opposite rotation and preventing slippage and loosening when squeezed or collided by stubborn impurities.

[0045] Example 3, referring to Figures 1 to 8 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0046] The fine-tuning roller 93 of the fine-tuning component provides the conditions for fine cleaning switching. It adopts an adaptive switching method of friction pads with different friction coefficients. The robotic arm 25 meets the coarse pressure adjustment cleaning requirements of the harder tunnel inner wall, and achieves fine cleaning pressure adjustment cleaning effect for the softer billboard and its sign paint surface. It completes coarse / fine pressure adjustment operations without the need for frequent changes of cleaning products, saving time and labor, and has a wide range of applications.

[0047] Specifically, it also includes a hidden cavity 91 circumferentially formed on the upper roller 37 and the lower roller 38, and a concentric shaft 92 fixed to the fine-tuning block 93 is rotatable inside the hidden cavity 91. The fine-tuning block 93 rotates with the hidden cavity 91, and the fine-tuning block 93 is hidden through the hidden cavity 91, so that only one friction surface of the fine-tuning block 93 is exposed each time.

[0048] The fine-tuning roller 93 is provided with an outer friction pad 94 on its outer side and an inner friction pad 95 on its inner side. Both sides of the fine-tuning roller 93 are provided with auxiliary friction pads 96, which increases the diversity of friction pads on the fine-tuning roller 93 and meets the adaptive pressure adjustment cleaning needs of the tunnel inner wall rock layer, concrete layer and billboard.

[0049] According to the coefficient of friction, the outer friction pad 94 > the main friction pad 39 > the inner friction pad 95 > the secondary friction pad 96. The outer friction pad 94 and the main friction pad 39 have a high coefficient of friction and are relatively hard, so they can be made of hard rubber and are mainly used for pressure-regulating cleaning of rock and concrete layers inside tunnels. The inner friction pad 95 and the secondary friction pad 96 have a low coefficient of friction and are relatively soft, so they can be made of soft silicone and are mainly used for pressure-regulating cleaning of billboards. Different coefficients of friction, coarse and fine, are used to suit different cleaning scenarios.

[0050] Both the inner friction pad 95 and the secondary friction pad 96 protrude outwards, with the secondary friction pad 96 protruding the greatest distance. When switching between the inner friction pad 95 and the secondary friction pad 96 for use, the inner friction pad 95 and the secondary friction pad 96 protrude and directly contact the billboard, while the outer friction pad 94 and the main friction pad 39 will not contact the billboard, thus avoiding scratches and damage to its marking paint surface. This method is suitable for pressure-adjusting cleaning operations on billboards.

[0051] Specifically, an electric push rod 97 is embedded on the outer side of the concentric shaft 92, and a small gear 98 is fixed on the outer side of the electric push rod 97. A large gear ring 99 is fixed inside the dust cover 27 and is located on the outer side of the drive shaft 32 and the driven shaft 36. The meshing stroke between the small gear 98 and the large gear ring 99 is adjusted to the correct position through the electric push rod 97.

[0052] An angle sensor 10 is fixed on the outside of the pinion 98. The angle sensor 10 monitors the rotation angle of the pinion 98 in real time to ensure that the outer friction pad 94, inner friction pad 95 and secondary friction pad 96 on the fine adjustment roller 93 are exposed in place during each coarse / fine pressure adjustment.

[0053] The dust cover 27 provides dust protection for the pinion 98 and the large gear ring 99, preventing the dust from entering the area of ​​the pinion 98 and the large gear ring 99 during the cleaning of the tunnel walls and billboards, thus avoiding gear transmission delay or even jamming.

[0054] In use, first, several electric push rods 97 are opened synchronously, and several sets of small gears 98 are moved outward synchronously and locked to the meshing part of the large gear ring 99. Then, the continuously variable motor 31 is controlled to rotate slowly in low gear. Since the large gear ring 99 is in a fixed state, the several sets of small gears 98 that follow the upper roller 37 and the lower roller 38 to rotate slowly rotate around the meshed large gear ring 99.

[0055] Subsequently, the rotating pinions 98 drive the fine-tuning rollers 93 to rotate within the concealed cavity 91 via the concentric shaft 92. After the outer friction pads 94, inner friction pads 95, and secondary friction pads 96 on the fine-tuning rollers 93 are exposed in sequence, the continuously variable motor 31 and the electric push rods 97 are successively shut down. The pinions 98 move down and disengage from the meshing part of the large gear ring 99 to return to their initial positions, thus avoiding collision and interference with the dust cover 27 during rotation.

[0056] When the tunnel reaches the rock and concrete layers of the inner wall, the outer friction pads 94 on several sets of fine-tuning rollers 93 are rotated and exposed. Then, the high-speed drive of the continuously variable motor 31 is restored. The upper roller 37 and the lower roller 38, which rotate in opposite directions at high speed, drive the exposed outer friction pads 94 on several sets of fine-tuning rollers 93 to rotate. This is combined with the main friction pads 39 that rotate in opposite directions with the upper roller 37 and the lower roller 38. Based on the mechanical arm 25 in the turning and displacement state, the impurities in the rock and concrete layers of the inner wall of the tunnel are cleaned with high-speed and coarse friction pressure adjustment.

[0057] When the billboard with the marking paint is reached, the rotation of the inner friction pads 95 / secondary friction pads 96 on several sets of fine-tuning rollers 93 continues to be controlled and switched. After they are exposed, the continuously variable motor 31 is driven in medium / low gear. The upper roller 37 and lower roller 38, which rotate at low speed in opposite directions, drive the inner friction pads 95 / secondary friction pads 96 exposed on several sets of fine-tuning rollers 93 to rotate. Based on the mechanical arm 25 in the turning and displacement state, the impurities in the rock layer and concrete layer area of ​​the tunnel wall are cleaned with high-level and coarse friction pressure adjustment.

[0058] Since both the inner friction pad 95 and the secondary friction pad 96 are designed to protrude outwards, they directly contact the paint surface of the billboard and its markings. However, the outer friction pad 94 and the main friction pad 39 do not have enough working stroke and will not contact the billboard. This avoids excessive pressure on the paint surface of the billboard and its markings, which could cause scratches and damage. At the same time, the exposed secondary friction pad 96 is also suitable for fine-tuning the pressure of warning lights during cleaning.

[0059] During the rotational switching of several sets of fine-tuning rollers 93, the outer friction pad 94, inner friction pad 95, and auxiliary friction pad 96 on them rotate in the same direction, and the outer friction pad 94 serves as the initial exposed surface of the fine-tuning roller 93. When the fine-tuning roller 93 rotates 90°, the outer friction pad 94 follows the rotation of the fine-tuning roller 93 and is hidden inside the hidden cavity 91. At this time, the auxiliary friction pad 96 on one side of the fine-tuning roller 93 is exposed. When the same 90° rotation continues, the auxiliary friction pad 96 on one side of the fine-tuning roller 93, together with the outer friction pad 94, continues to rotate and be hidden inside the hidden cavity 91. When the inner friction pad 95 is exposed, and then rotates another 90°, the auxiliary friction pad 96 and outer friction pad 94 on one side of the fine-tuning roller 93, along with the inner friction pad 95, continue to rotate and hide into the hidden cavity 91. At this time, the other auxiliary friction pad 96 is exposed. Finally, when rotated another 90°, the outer friction pad 94 is exposed again, while the inner friction pad 95 and the two auxiliary friction pads 96 follow the fine-tuning roller 93 back to their original positions and hide into the hidden cavity 91. The rotation angle of the fine-tuning roller 93 is monitored in real time by the angle sensor 10 to ensure that each switch is in place.

[0060] A ratchet 11 is fitted inside the concentric shaft 92, and a pawl 12 is engaged on the outside of the ratchet 11. A compression spring 13 is fixed on the outside of the pawl 12. During the rotation and switching of several sets of fine-tuning rollers 93 driven by the concentric shaft 92, the ratchet 11, which rotates synchronously with the several sets of concentric shafts 92, forces the pawl 12 on it to perform a tooth-skipping action. The compression spring 13 provides elastic support for the pawl 12 that performs the tooth-skipping action, forcing the pawl 12 in the tooth-skipping state to always be engaged on the ratchet 11. Then, through the several sets of ratchet 11 and pawl 12, reverse restriction measures are provided for the several sets of concentric shafts 92 and fine-tuning rollers 93 that are rotating and switching, ensuring the stability of the outer friction pad 94, inner friction pad 95 and secondary friction pad 96 that are successively exposed on the several sets of fine-tuning rollers 93.

[0061] The inner circumference of the upper roller 37 and the lower roller 38 is provided with reserved cavities for the installation of ratchet 11, pawl 12 and compression spring 13. The reserved cavities are not interconnected with the hidden cavity 91. The reserved cavities cover and protect the ratchet 11, pawl 12 and compression spring 13, provide rotational support for the pawl 12 and fixed support for the compression spring 13, and ensure the normal restricted operation of the ratchet 11, pawl 12 and compression spring 13.

[0062] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A working head pressure adaptive adjustment mechanism for a cleaning robotic arm, characterized in that: It includes a displacement assembly with a guard (1) and provides adaptive displacement via a robotic arm (25), applies coarse cleaning measures by the upper roller (37) and lower roller (38) of the coarse adjustment assembly, and provides fine cleaning switching conditions by the fine adjustment roller (93) of the fine adjustment assembly.

2. The adaptive pressure adjustment mechanism for the working head of the cleaning robot arm as described in claim 1, characterized in that: The displacement assembly also includes a fixed slide rail (21) fixed on an external tractor, and an electric slide rail seat (22) is provided on the fixed slide rail (21). An electric telescopic rod (23) is hinged on the electric slide rail seat (22), and a swing arm frame (24) fixed to the robotic arm (25) is hinged on the electric telescopic rod (23).

3. The adaptive pressure adjustment mechanism for the working head of the cleaning robotic arm as described in claim 1, characterized in that: The robotic arm (25) is fixed with a connecting frame (26) that is fixed to the guardrail (1), and a dust cover (27) is placed horizontally on the inner side of the connecting frame (26). A side scraper (5) is placed vertically on the inner side of the guardrail (1), and the side scraper (5) is in contact with the upper roller (37) and the lower roller (38).

4. The adaptive pressure adjustment mechanism for the working head of the cleaning robot arm as described in claim 1, characterized in that: The coarse adjustment assembly also includes a continuously variable motor (31) fixed to the bottom of the guardrail (1), and the output shaft of the continuously variable motor (31) is fixed with a drive shaft rod (32) fixed to the lower roller (38). A drive gear (33) is sleeved on the drive shaft (32), and a rotating gear (34) meshes on the drive gear (33). A driven gear (35) meshes on the rotating gear (34), and a driven shaft (36) fixed to the upper roller (37) is sleeved inside the driven gear (35).

5. The adaptive pressure adjustment mechanism for the working head of the cleaning robotic arm as described in claim 1, characterized in that: The upper roller (37) and the lower roller (38) are provided with main friction pads (39) on their outer sides, and the upper roller (37) and the lower roller (38) are provided with annular grooves (4) that rotate with the dust cover (27).

6. The adaptive pressure adjustment mechanism for the working head of the cleaning robot arm as described in claim 1, characterized in that: The inner side of the guard (1) is fixed with a support plate (6) that rotates with the central gear (34), and the inner sides of the upper roller (37) and the lower roller (38) are fixed with T-shaped seats (7) in a triangular equidistant shape. The upper and lower sides of the support plate (6) are provided with T-shaped grooves (8) that slide with the T-shaped seats (7).

7. The adaptive pressure adjustment mechanism for the working head of the cleaning robot arm as described in claim 1, characterized in that: The fine-tuning assembly also includes a hidden cavity (91) circumferentially opened on the upper roller (37) and the lower roller (38), and a concentric shaft (92) fixed to the fine-tuning block (93) is rotatably arranged in the hidden cavity (91), and the fine-tuning block (93) rotates with the hidden cavity (91); The fine-tuning roller (93) is provided with an outer friction pad (94) on its outer side and an inner friction pad (95) on its inner side. Both sides of the fine-tuning roller (93) are provided with secondary friction pads (96). According to the coefficient of friction, the outer friction pad (94) > the main friction pad (39) > the inner friction pad (95) > the secondary friction pad (96).

8. The adaptive pressure adjustment mechanism for the working head of the cleaning robot arm as described in claim 3 or 7, characterized in that: An electric push rod (97) is embedded on the outside of the concentric shaft (92), and a small gear (98) is fixed on the outside of the electric push rod (97). A large gear ring (99) is fixed inside the dust cover (27).

9. The adaptive pressure adjustment mechanism for the working head of the cleaning robot arm as described in claim 8, characterized in that: An angle sensor (10) is fixed to the outside of the pinion (98), and a dust cover (27) is used to cover the pinion (98) and the large gear ring (99) for dust protection.

10. The adaptive pressure adjustment mechanism for the working head of the cleaning robot arm as described in claim 7, characterized in that: The inner side of the concentric shaft (92) is fitted with a ratchet (11), and the outer side of the ratchet (11) is fitted with a pawl (12), and the outer side of the pawl (12) is fixed with a compression spring (13).

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