Flying cleaning robot

Abstract

The utility model discloses a flying cleaning robot which comprises a crawler, a rolling brush is rotatably arranged on the crawler, the flying cleaning robot further comprises a four-axis aircraft, an electromagnet assembly, a winch, a lifting motor and a mounting base, a matched metal sheet is arranged on the crawler, and the matched metal sheet is used for being matched with the electromagnet assembly in an adsorption mode; the mounting base is arranged on the quadrotor, the winch is rotationally mounted on the mounting base, the lifting motor is arranged on the mounting base, the lifting motor is matched with the winch, a flexible cable is connected to the electromagnet assembly, and one end of the flexible cable is matched with the winch. The robot has the following beneficial effects that the crawler can conduct cleaning operation independently, and a quadrotor does not need to be carried for cleaning operation.

Description

Technical Field

[0001] The utility model relates to the field of cleaning machines, in particular to a flying cleaning robot. Background Art

[0002] At present, many devices (such as photovoltaic panels at a high altitude from the ground) are cleaned by flying cleaning equipment. Patent announcement document CN207691747U discloses a flying cleaning robot that can clean solar street light panels in a suspended state. This flying cleaning robot can be regarded as a four-rotor drone with a roller brush machine suspended below. Since the four-rotor drone and the roller brush machine cannot be separated, the roller brush machine (the actual cleaning device) must carry the four-rotor drone when operating on the photovoltaic panel. This cleaning method not only increases the energy consumption during the cleaning process (because the four-rotor drone itself is heavy), but also greatly increases the probability of damage to the four-rotor drone due to collisions during the cleaning process. Utility Model Content

[0003] In view of the above problems, the utility model provides a flying cleaning robot.

[0004] The technical solution adopted by the utility model is as follows:

[0005] A flying cleaning robot comprises a crawler, on which a roller brush is rotatably arranged, a quadcopter, an electromagnet assembly, a winch, a lifting motor and a mounting seat, and a matching metal sheet is arranged on the crawler, and the matching metal sheet is used for adsorption and matching with the electromagnet assembly;

[0006] The mounting seat is arranged on the quadcopter, the winch is rotatably mounted on the mounting seat, the lifting motor is arranged on the mounting seat, the lifting motor cooperates with the winch, a flexible cable is connected to the electromagnet assembly, and one end of the flexible cable cooperates with the winch.

[0007] In this flying cleaning robot, the electromagnet assembly is arranged at one end of the flexible cable. When the lifting motor is running, it can drive the flexible cable to be wound or released on the winch, thereby adjusting the length of the flexible cable exposed outside the winch.

[0008] When the electromagnet assembly is adsorbed together with the matching metal plate, the quadcopter can suspend the tracked vehicle for transportation. When the electromagnet assembly is no longer adsorbed together with the matching metal plate, the quadcopter and the tracked vehicle are disengaged, and the tracked vehicle can perform cleaning operations alone without carrying the quadcopter for cleaning operations.

[0009] Specifically in this robot, in order to better adapt to the electromagnet assembly, the matching metal plate is in a groove shape.

[0010] Specifically in this type of robot, in order to improve the stability of the quadcopter when suspending and transporting a tracked vehicle, two mounting frames are set on the quadcopter, each mounting frame is independently equipped with a winch, and each winch is independently coordinated with a lifting motor, that is, there are two winches and two lifting motors.

[0011] Each winch is wound with a flexible cable, and the flexible cable on each winch is connected to an electromagnet assembly, which is equivalent to carrying two groups of electromagnet assemblies on the quadcopter, and the two groups of electromagnet assemblies are independently adjusted by the flexible cable and the lifting motor, so the distance between each group of electromagnet assemblies relative to the quadcopter can be adjusted as needed, and two matching metal plates are set on the crawler to adapt to the two groups of electromagnet assemblies. In this robot, since the distance between each group of electromagnet assemblies relative to the quadcopter can be adjusted as needed, the two groups of electromagnet assemblies can form a height difference of different distances as needed, so for the crawler in a tilted state, the two groups of electromagnet assemblies on the quadcopter can still stably absorb and cooperate with the two matching metal plates, thereby quickly suspending the crawler. At the same time, since the electromagnet assembly can rise or fall as needed, the quadcopter can adjust the state of the crawler in the process of suspending the crawler.

[0012] Specifically in this robot, a docking plate is arranged below the quadcopter, and two mounting seats are arranged on the docking plate.

[0013] Specifically in this robot, the flexible cable is a flexible cable that can conduct electricity and bear weight. The flexible cable can be formed by winding an electric cable and a cable, and the cable can be a steel wire rope or a nylon rope.

[0014] Optionally, it also includes a support rod, wherein there are two support rods, the support rods are arranged on the quadcopter, and the electromagnet assembly is located between the two support rods.

[0015] Specifically, the support rod is T-shaped, the longitudinal part of the support rod is fixed on the docking plate, the transverse part of the support rod is used to contact the tracked vehicle, and the two support rods are distributed on the connecting plate in a roughly isosceles trapezoidal shape, and the longitudinal parts of the two support rods can be roughly equivalent to the waist of the isosceles trapezoid.

[0016] Specifically, the two mounting seats are located between the two support rods. When the quadcopter is suspending the crawler vehicle, when the lateral parts of the two support rods are in close contact with the crawler vehicle, the crawler vehicle and the quadcopter are rigidly connected. When only the lateral part of one support rod (or there is no support rod) is in close contact with the crawler vehicle, the quadcopter and the crawler vehicle are flexibly connected.

[0017] Optionally, a micro switch is also included, and the micro switch is arranged on the periphery of the electromagnet assembly.

[0018] The function of the micro switch is to contact with the matching metal plate, so the function of the micro switch is to sense whether the electromagnet assembly is adsorbed and matched with the matching metal plate.

[0019] In order to ensure the stability between the micro switch and the electromagnet assembly in this robot, a guide shell is further provided, the micro switch and the electromagnet assembly are both provided in the guide shell, the flexible cable passes through the guide shell, and the flexible cable is fixed to the guide shell, and an arc surface for fitting with a matching metal plate is provided at the lower edge of the guide shell, and the existence of the arc surface allows the electromagnet assembly to slide smoothly into the matching metal plate.

[0020] Optionally, a camera is also included, and the camera is arranged on the quadcopter.

[0021] A connecting seat is specifically provided on the docking plate, the connecting seat is located between the two mounting seats, and the camera is arranged on the connecting seat.

[0022] Optionally, it also includes a light source, which is a ring-shaped light source and is arranged on the quadcopter.

[0023] The specific ring light source is arranged on the connection seat, the camera is located in the ring light source, and the ring light source can supplement the light when the light in the environment is insufficient. The specific ring light source can be a ring LED lamp.

[0024] Optionally, a cleaning motor is provided on the crawler vehicle, and the shaft of the cleaning motor and the shaft of the roller brush are matched together through a synchronous belt and a synchronous wheel.

[0025] Specifically, synchronous wheels are arranged on the shaft of the cleaning motor and the shaft of the roller brush, and the synchronous wheels of the two are linked by a synchronous belt.

[0026] Optionally, there are two roller brushes, which are respectively arranged at two ends of the tracked vehicle, and the matching metal sheet is located between the two roller brushes.

[0027] Optionally, a handle is provided on the crawler vehicle.

[0028] The purpose of providing the handle is to facilitate the extraction of the tracked vehicle.

[0029] The beneficial effect of the utility model is that when the electromagnet assembly is adsorbed together with the matching metal plate, the quadcopter can suspend the tracked vehicle for transportation; when the electromagnet assembly is no longer adsorbed together with the matching metal plate, the quadcopter and the tracked vehicle are disengaged, and the tracked vehicle can perform cleaning operations alone without carrying the quadcopter for cleaning operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of the flying cleaning robot;

[0031] Figure 2 It is a schematic diagram of the structure of a crawler vehicle;

[0032] Figure 3 It is a schematic diagram of the structure of a quadcopter;

[0033] Figure 4 It is a schematic diagram of the installation relationship of various components on the docking plate;

[0034] Figure 5 It is a schematic diagram of the coordination between the winch and the lifting motor.

[0035] The reference numerals in the figure are: 1. quadcopter; 201. longitudinal part; 202. transverse part; 3. crawler; 4. roller brush; 5. matching metal plate; 6. handle; 7. cleaning motor; 8. synchronous wheel; 9. synchronous belt; 10. lifting motor; 11. flexible cable; 12. guide shell; 1201. arc surface; 13. mounting seat; 14. docking plate; 15. connecting seat; 16. ring light source; 17. control box; 18. camera; 19. electromagnet assembly; 20. micro switch; 21. winch. DETAILED DESCRIPTION

[0036] The utility model is described in detail below in conjunction with the accompanying drawings.

[0037] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 And attached Figure 5 As shown, a flying cleaning robot includes a crawler 3, on which a roller brush 4 is rotatably arranged, a quadcopter 1, an electromagnet assembly 19, a winch 21, a lifting motor 10 and a mounting seat 13, and a matching metal sheet is arranged on the crawler 3, and the matching metal sheet is used for adsorption and matching with the electromagnet assembly 19;

[0038] The mounting seat 13 is arranged on the quadcopter 1, and the winch 21 is rotatably mounted on the mounting seat 13. A lifting motor 10 is arranged on the mounting seat 13, and the lifting motor 10 cooperates with the winch 21. A flexible cable 11 is connected to the electromagnet assembly 19, and one end of the flexible cable 11 cooperates with the winch 21.

[0039] In this flying cleaning robot, the electromagnet assembly 19 is arranged at one end of the flexible cable 11. When the lifting motor 10 is running, it can drive the flexible cable 11 to be wound or released on the winch 21, thereby adjusting the length of the flexible cable 11 exposed outside the winch 21.

[0040] When the electromagnet assembly 19 is adsorbed together with the matching metal plate 5, the quadcopter 1 can suspend the tracked vehicle 3 for transportation. When the electromagnet assembly 19 is no longer adsorbed together with the matching metal plate 5, the quadcopter 1 and the tracked vehicle 3 are disengaged, and the tracked vehicle 3 can perform cleaning operations alone without carrying the quadcopter 1 for cleaning operations.

[0041] Specifically in this robot, in order to better adapt to the electromagnet assembly 19, the matching metal plate 5 is in a groove shape.

[0042] Specifically in this type of robot, in order to improve the stability of the quadcopter 1 when suspending and transporting the tracked vehicle 3, two mounting frames are set on the quadcopter 1, and a winch 21 is independently installed on each mounting frame. Each winch 21 is independently coordinated with a lifting motor 10, that is, there are two winches 21 and two lifting motors 10.

[0043] Each winch 21 is wound with a flexible cable 11, and the flexible cable 11 on each winch 21 is connected to an electromagnet assembly 19, which is equivalent to carrying two groups of electromagnet assemblies 19 on the quadcopter 1, and the two groups of electromagnet assemblies 19 are independently adjusted by the flexible cable 11 and the lifting motor 10, so the distance between each group of electromagnet assemblies 19 and the quadcopter 1 can be adjusted as needed. Similarly, in order to adapt to the two groups of electromagnet assemblies 19, two matching metal plates are set on the crawler 3. In this kind of robot, since the distance between each group of electromagnet assemblies 19 and the quadcopter 1 can be adjusted as needed, the two groups of electromagnet assemblies 19 can form a height difference of different distances as needed, so that for the crawler 3 in a tilted state, the two groups of electromagnet assemblies 19 on the quadcopter 1 can still stably adsorb and cooperate with the two matching metal plates 5, thereby quickly suspending the crawler 3. At the same time, since the electromagnet assembly 19 can be raised or lowered as needed, the quadcopter 1 can adjust the state of the crawler vehicle 3 during the process of suspending the crawler vehicle 3.

[0044] Specifically in this robot, a docking plate 14 is arranged below the quadcopter 1 , and the two mounting seats 13 are arranged on the docking plate 14 .

[0045] Specifically in this robot, the flexible cable 11 is a flexible cable that can conduct electricity and bear weight. The flexible cable 11 can be formed by winding an electric cable and a cable, and the cable can be a steel wire rope or a nylon rope.

[0046] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 And attached Figure 5As shown, it also includes two struts, which are arranged on the quadcopter 1, and the electromagnet assembly 19 is located between the two struts.

[0047] Specifically, the support rod is T-shaped, the longitudinal portion 201 on the support rod is fixed on the docking plate 14, and the transverse portion 202 of the support rod is used to contact the tracked vehicle 3. The two support rods are distributed on the connecting plate in a roughly isosceles trapezoidal shape, and the longitudinal portions 201 on the two support rods can be roughly equivalent to the waist of the isosceles trapezoid.

[0048] Specifically, the two mounting seats 13 are located between the two support rods. When the quadcopter 1 is in the process of suspending the crawler 3, when the transverse portions 202 of the two support rods are in close contact with the crawler 3, the crawler 3 and the quadcopter 1 are rigidly connected. When only the transverse portion 202 of one support rod (or there is no support rod) is in close contact with the crawler 3, the quadcopter 1 and the crawler 3 are flexibly connected.

[0049] The specific control box 17 is also arranged on the docking plate. The control box 17 has a control circuit board. The micro switch, the lifting motor and the electromagnet assembly are all electrically connected to the control circuit board and controlled by it.

[0050] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 And attached Figure 5 As shown, a micro switch 20 is also included, and the micro switch 20 is arranged on the periphery of the electromagnet assembly 19.

[0051] The function of the micro switch 20 is to contact with the matching metal plate 5 , so the function of the micro switch 20 is to sense whether the electromagnet assembly 19 is adsorbed and matched with the matching metal plate 5 .

[0052] In order to ensure the stability between the micro switch 20 and the electromagnet assembly 19 in this robot, a guide shell 12 is further provided. The micro switch 20 and the electromagnet assembly 19 are both arranged in the guide shell 12. The flexible cable 11 passes through the guide shell 12, and the flexible cable 11 and the guide shell 12 are fixed together. A circular arc surface 1201 for fitting with the matching metal plate 5 is provided at the lower edge of the guide shell 12. The existence of the circular arc surface 1201 allows the electromagnet assembly 19 to slide smoothly into the matching metal plate 5.

[0053] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 And attached Figure 5 As shown, a camera 18 is also included, and the camera 18 is arranged on the quadcopter 1.

[0054] Specifically, a connecting seat 15 is provided on the docking plate 14 . The connecting seat 15 is located between the two mounting seats 13 , and the camera 18 is disposed on the connecting seat 15 .

[0055] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 And attached Figure 5 As shown, a light source is also included, which is a ring-shaped light source 16 , and the light source is arranged on the quadcopter 1 .

[0056] Specifically, the annular light source 16 is disposed on the connection base 15, and the camera 18 is located inside the annular light source 16. The annular light source 16 can provide supplementary light when the light in the environment is insufficient. Specifically, the annular light source 16 can be an annular LED lamp.

[0057] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 And attached Figure 5 As shown, a cleaning motor 7 is provided on the crawler vehicle 3 , and the shaft of the cleaning motor 7 and the shaft of the roller brush 4 are matched together through a synchronous belt 9 and a synchronous wheel 8 .

[0058] Specifically, a synchronous wheel 8 is arranged on the shaft of the cleaning motor 7 and the shaft of the roller brush 4 , and the synchronous wheels 8 of the two are linked by a synchronous belt 9 .

[0059] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 And attached Figure 5 As shown, there are two roller brushes 4 , which are respectively arranged at two ends of the tracked vehicle 3 , and the matching metal sheet is located between the two roller brushes 4 .

[0060] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 And attached Figure 5 As shown, a handle 6 is provided on the crawler vehicle 3 .

[0061] The handle 6 is provided to facilitate the extraction of the crawler vehicle 3 .

[0062] Specifically, in this embodiment, the electromagnet assembly is a de-energized electromagnet assembly.

[0063] Specifically in this robot, a special graphic can be set on the tracked vehicle to facilitate the camera 18 to identify the tracked vehicle.

[0064] The above description is only a preferred embodiment of the present invention, and does not limit the patent protection scope of the present invention. Any equivalent transformations made using the contents of the present invention specification, directly or indirectly used in other related technical fields, are also included in the protection scope of the present invention.

Claims

1. A flying cleaning robot, comprising a tracked vehicle, on which a roller brush is rotatably arranged, characterized in that: It also includes a quadcopter, an electromagnet assembly, a winch, a lifting motor and a mounting seat, wherein a matching metal sheet is provided on the crawler vehicle, and the matching metal sheet is used for adsorption and matching with the electromagnet assembly; The mounting seat is arranged on the quadcopter, the winch is rotatably mounted on the mounting seat, the lifting motor is arranged on the mounting seat, the lifting motor cooperates with the winch, a flexible cable is connected to the electromagnet assembly, and one end of the flexible cable cooperates with the winch.

2. The flying cleaning robot according to claim 1, characterized in that: It also includes two struts, which are arranged on the quadcopter, and the electromagnet assembly is located between the two struts.

3. The flying cleaning robot according to claim 1, characterized in that: It also includes a micro switch, which is arranged on the periphery of the electromagnet assembly.

4. The flying cleaning robot according to claim 1, characterized in that: It also includes a camera, which is arranged on the quadcopter.

5. The flying cleaning robot according to claim 1, characterized in that: It also includes a light source, which is a ring-shaped light source and is arranged on the quadcopter.

6. The flying cleaning robot according to claim 1, characterized in that: The crawler vehicle is provided with a cleaning motor, and the shaft of the cleaning motor and the shaft of the roller brush are matched together through a synchronous belt and a synchronous wheel.

7. The flying cleaning robot according to claim 1, characterized in that: There are two roller brushes, which are respectively arranged at two ends of the crawler vehicle, and the matching metal sheet is located between the two roller brushes.

8. The flying cleaning robot according to claim 1, characterized in that: The crawler vehicle is provided with a handle.

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