A cleaning robot

Abstract

The cleaning robot disclosed in the utility model relates to the technical field of wind power tower cleaning, including a fuselage frame and a hoist assembly, wherein a plurality of roller brushes are rotatably arranged on the fuselage frame, and the roller brushes are used to clean the wall surface to be cleaned. The hoist assembly includes a hoist body and a speed regulating motor, wherein the hoist body is arranged on the fuselage frame, and the speed regulating motor is arranged on the hoist body, and can provide the hoist body with power for winding the suspension rope, thereby making the fuselage frame rise or fall, and the speed regulating motor is a variable frequency speed regulating motor, and the variable frequency speed regulating motor is used to drive the hoist body to wind the suspension rope to lift the cleaning robot, so that the cleaning robot has a variable frequency speed regulating function, can realize uniform speed start and stop, and can set the lifting speed according to actual needs, and can effectively reduce the current impact and the vibration of the fuselage, so that the movement of the cleaning robot is more linear, and the energy loss is lower.

Description

Technical Field

[0001] The utility model relates to the technical field of wind power tower cleaning, and more specifically to a cleaning robot. Background Art

[0002] High-altitude cleaning operations are usually performed by professionals. Due to the dangerous nature of the work, casualties occur frequently. With the improvement of industrialization, various industries have enhanced the safety of operations through technological innovation. In the field of high-altitude special operations, the use of robot technology is an important development trend, which helps to reduce the occurrence of safety accidents.

[0003] There are some problems with existing rope-type cleaning robots. For example, the speed of the lifting drive part cannot be adjusted, resulting in excessive vibration of the body when starting and stopping; the body is too heavy, which is inconvenient for transportation and on-site operation; and it is easy to tilt during the lifting process. If the body tilts, manual adjustment is required to restore the balance before continuing to work, which makes it less practical.

[0004] Therefore, how to improve the design and function of the rope-type cleaning robot to enhance its practicability has become a technical problem that needs to be urgently solved by those skilled in the art. Utility Model Content

[0005] In view of this, an object of the present invention is to provide a cleaning robot to improve practicality.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A cleaning robot, comprising:

[0008] A fuselage frame, on which a plurality of roller brushes are rotatably arranged;

[0009] The hoist assembly includes a hoist body and a speed regulating motor. The hoist body is arranged on the fuselage frame and has a hoist rope threading hole. The lifting rope is used to enter the hoist body through the hoist rope threading hole. The speed regulating motor is arranged on the hoist body and is used to drive the hoist body to wind the lifting rope so as to lift and lower the fuselage frame. The speed regulating motor is a variable frequency speed regulating motor.

[0010] Optionally, in the above-mentioned cleaning robot, the lifting machine components are in two groups, and are respectively arranged on both sides of the body frame;

[0011] The fuselage frame is provided with a control system and an attitude sensor, the attitude sensor is used to detect the attitude of the fuselage frame and transmit an adjustment signal, the control system is used to receive the adjustment signal and control the speed regulating motor of the hoist assembly to adjust the attitude of the fuselage frame.

[0012] Optionally, in the above-mentioned cleaning robot, the speed regulating motor has a brake function, and a manual brake release component is provided on the speed regulating motor, and the manual brake release component is used for an operator to manually release the brake of the speed regulating motor.

[0013] Optionally, in the above-mentioned cleaning robot, a brake release handle for releasing the brake is provided on the speed regulating motor;

[0014] The manual brake release assembly includes a transmission rod, a pull ring and a brake release push rod. The transmission rod is rotatably arranged on the hoist body to form a lever mechanism. The pull ring and the brake release push rod are respectively connected to the two ends of the transmission rod, and the brake release push rod is connected to the brake release handle. The pull ring is used for the operator to pull so that the brake release push rod pushes the brake release handle to release the brake.

[0015] Optionally, in the above-mentioned cleaning robot, a magnetic auxiliary wheel assembly is provided on the body frame, and the magnetic auxiliary wheel assembly includes:

[0016] A connecting assembly connected to the fuselage frame;

[0017] A magnetic attraction member, disposed on the connecting assembly, for generating an adsorption force on the wall surface to be cleaned;

[0018] The omnidirectional wheel is rotatably arranged on the connecting assembly and is used for rolling on the wall surface to be cleaned, so that there is a gap between the magnetic attraction component and the wall surface to be cleaned.

[0019] Optionally, in the above-mentioned cleaning robot, the surface of the magnetic suction part facing the wall to be cleaned is the adsorption surface, a plurality of protective pads are arranged on the connecting assembly, and the surface of the protective pads facing the wall to be cleaned is the protective surface. There are multiple omnidirectional wheels, and a rolling support surface is formed for rolling with the wall to be cleaned, and the protective surface is located between the adsorption surface and the rolling support surface.

[0020] Optionally, in the above-mentioned cleaning robot, the connecting assembly includes a supporting tube and a supporting wheel frame, the supporting tube is connected to the fuselage frame, a slide groove is provided on the supporting wheel frame, the supporting tube is hinged by a connecting pin and is slidably arranged in the slide groove, and the magnetic suction member and the omnidirectional wheel are both arranged on the supporting wheel frame; and / or,

[0021] An auxiliary wheel mounting plate is arranged on the fuselage frame, an installation adjustment groove is opened on the auxiliary wheel mounting plate, and the position of the connecting component is adjustably arranged in the installation adjustment groove.

[0022] Optionally, in the above-mentioned cleaning robot, two groups of the magnetic auxiliary wheel assemblies are symmetrically arranged at the bottom of the body frame, and two supporting wheels are symmetrically arranged at the top, and both the magnetic auxiliary wheel assemblies and the supporting wheels are used for rolling cooperation with the wall surface to be cleaned.

[0023] Optionally, in the above-mentioned cleaning robot, a water spray assembly is provided on the fuselage frame, and the water spray assembly includes a plurality of water spray pipes, the water spray pipes are provided on the fuselage frame, and are arranged one by one above each of the roller brushes, and each of the water spray pipes is provided with a plurality of water nozzles for spraying water onto the wall surface to be cleaned, and the water spray assembly is used to be connected to an independently arranged water source through a water pipe.

[0024] Optionally, in the above-mentioned cleaning robot, a heater and / or a flow meter is provided on the water spray assembly.

[0025] Optionally, in the above-mentioned cleaning robot, a pulley is rotatably provided on the elevator body, and in the vertical direction, the pulley is located above the rope threading hole of the elevator, and the pulley is used to cooperate with the lifting rope to guide the lifting rope to the rope threading hole of the elevator.

[0026] Optionally, in the above-mentioned cleaning robot, a distance sensor is installed on the top of the fuselage frame, and the distance sensor is used to detect the distance between the cleaning robot and the head of the wind turbine tower; and / or,

[0027] A plurality of universal wheels are arranged at the bottom of the fuselage frame.

[0028] The cleaning robot provided by the utility model comprises a body frame and a hoist assembly, wherein a plurality of roller brushes are rotatably arranged on the body frame, and the roller brushes are used to clean the wall surface to be cleaned. The hoist assembly comprises a hoist body and a speed regulating motor, wherein the hoist body is arranged on the body frame and has a hoist rope threading hole, wherein the hoist rope is used to enter the inside of the hoist body through the hoist rope threading hole and be wound by the hoist body, wherein the speed regulating motor is arranged on the hoist body and can provide the hoist body with power for winding the hoist rope, thereby causing the body frame to rise or fall, and the speed regulating motor is a variable frequency speed regulating motor.

[0029] Compared with the prior art, the cleaning robot provided by the utility model adopts a variable frequency speed regulation motor to drive the lifting machine body to wind the lifting rope to lift the cleaning robot, so that the cleaning robot has a variable frequency speed regulation function, can achieve uniform speed start and stop, and can set the lifting speed according to actual needs. At the same time, it can effectively reduce current shock and body vibration, making the movement of the cleaning robot more linear and with lower energy loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 The isometric structure diagram of the cleaning robot disclosed in the embodiment of the utility model Figure 1 ;

[0032] Figure 2 It is a left view of the cleaning robot disclosed in the embodiment of the utility model;

[0033] Figure 3 It is a right side view of the cleaning robot disclosed in the embodiment of the utility model;

[0034] Figure 4 A top view of the cleaning robot disclosed in an embodiment of the utility model;

[0035] Figure 5 This is a schematic diagram of the internal structure of the cleaning robot disclosed in the embodiment of the utility model;

[0036] Figure 6 The isometric structure diagram of the cleaning robot disclosed in the embodiment of the utility model Figure 2 ;

[0037] Figure 7 The isometric structure diagram of the cleaning robot disclosed in the embodiment of the utility model Figure 3 ;

[0038] Figure 8 The structure of the hoist assembly disclosed in the embodiment of the utility model is schematically shown. Figure 1 ;

[0039] Fig. 9 The structure of the hoist assembly disclosed in the embodiment of the utility model is schematically shown. Figure 2 .

[0040] Fig.10 The structure of the hoist assembly disclosed in the embodiment of the utility model is schematically shown. Figure 3 ;

[0041] Fig.11 This is an axonometric view of the magnetic auxiliary wheel assembly disclosed in the embodiment of the utility model;

[0042] Fig.12 A top view of the magnetic auxiliary wheel assembly disclosed in an embodiment of the utility model;

[0043] Fig.13It is a schematic structural diagram of a water spray assembly disclosed in an embodiment of the utility model.

[0044] Among them, 1 is the fuselage frame, 2 is the upper roller brush, 3 is the lower roller brush, 4 is the lifting machine assembly, 5 is the water spray assembly, 6 is the magnetic auxiliary wheel assembly, 7 is the support wheel, 8 is the universal wheel, 9 is the distance sensor, 10 is the roller brush drive motor, 11 is the control system, 12 is the synchronous wheel, 13 is the first synchronous belt, and 14 is the second synchronous belt;

[0045] 21 is the main body of the hoist, 22 is the brake release push rod, 23 is the transmission support shaft, 24 is the pull ring, 25 is the transmission rod, 26 is the brake release handle, 27 is the speed regulating motor, 28 is the brake release fixing plate, 31 is the first pulley support plate, 32 is the pulley, 33 is the second pulley support plate, 34 is the connecting block, 35 is the pulley support shaft, and 36 is the hoist rope threading hole;

[0046] 41 is an omnidirectional wheel, 42 is an omnidirectional wheel support shaft, 43 is a protective pad, 44 is a magnetic attraction member, 45 is a support wheel frame, 46 is an auxiliary wheel mounting plate, 47 is a connecting pin, and 48 is a support tube;

[0047] 51 is a water inlet joint, 52 is a heater, 53 is an electromagnetic water valve, 54 is a flow meter, 55 is a lower water spray pipe, 56 is an upper water spray pipe, and 57 is a water spray nozzle. DETAILED DESCRIPTION

[0048] The core of the utility model is to disclose a cleaning robot to improve practicability.

[0049] The following is an explanation of the embodiments with reference to the accompanying drawings. In addition, the embodiments shown below do not limit the contents of the utility model described in the claims. In addition, the entire contents of the structures represented by the following embodiments are not limited to those necessary as solutions of the utility model described in the claims. It should be noted that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings. In the absence of conflict, the embodiments in the utility model and the features in the embodiments can be combined with each other.

[0050] Combination Figure 1-Figure 13The cleaning robot disclosed in the embodiment of the utility model includes a body frame 1 and a hoist assembly 4. The body frame 1 is rotatably provided with a plurality of roller brushes, which are used to clean the wall surface to be cleaned. The hoist assembly 4 includes a hoist body 21 and a speed regulating motor 27. The hoist body 21 is provided on the body frame 1 and has a hoist rope threading hole 36. The hoist rope is used to enter the inside of the hoist body 21 through the hoist rope threading hole 36 and be wound by the hoist body 21. The speed regulating motor 27 is provided on the hoist body 21 and can provide the hoist body 21 with power for winding the hoist rope, thereby making the body frame 1 rise or fall, and the speed regulating motor 27 is a variable frequency speed regulating motor.

[0051] Compared with the prior art, the cleaning robot disclosed in the embodiment of the utility model adopts a variable frequency speed regulation motor to drive the lifting machine body 21 to wind the lifting rope to lift the cleaning robot, so that the cleaning robot has a variable frequency speed regulation function, can achieve uniform speed start and stop, and can set the lifting speed according to actual needs. At the same time, it can effectively reduce current shock and body vibration, making the movement of the cleaning robot more linear and with lower energy loss.

[0052] The hoisting rope is usually a steel wire rope, and the specific structure and operation principle of the hoist body 21 are well known to those skilled in the art, and will not be described in detail here. The wall surface to be cleaned can be the outer wall of a wind turbine tower, the outer wall of a building, and the like.

[0053] Those skilled in the art can understand that, after the lifting rope is lowered from the top of the wall to be cleaned (e.g., the top of a wind turbine tower), it is usually directly attached to the wall to be cleaned or there is a small gap with the wall to be cleaned (relative to the gap between the lifting machine rope threading hole 36 and the wall to be cleaned after the cleaning robot is attached to the wall to be cleaned), so that the lifting rope will tilt into the lifting machine rope threading hole 36, resulting in interference between the structure on the lifting machine body 21 and the lifting rope during the lifting process of the cleaning robot, causing wear. Figure 8-Figure 10 A pulley 32 is rotatably provided on the top of the hoist body 21, and in the vertical direction, the pulley 32 is located above the rope threading hole 36 of the hoist. The lifting rope is guided by the pulley 32 and then enters the rope threading hole 36 of the hoist, thereby effectively protecting the hoist body 21 and the lifting rope, and avoiding the breakage of the lifting rope or damage to the hoist body 21.

[0054] Preferably, the hoist rope threading hole 36 is directly opposite to the outer circle of the hoist rope of the pulley 32 (tangent), so that the hoist rope can directly enter the hoist rope threading hole 36 in the vertical direction after being guided by the pulley 32.

[0055] In one embodiment, a first pulley support plate 31 and a second pulley support plate 33 are provided on the hoist body 21. The first pulley support plate 31 and the second pulley support plate 33 are parallel to each other and separated by a connecting block 34. A pulley support shaft 35 is provided on the first pulley support plate 31 and the second pulley support plate 33. The pulley 32 is rotatably provided on the pulley support shaft 35 and is located between the first pulley support plate 31 and the second pulley support plate 33.

[0056] Combination Figure 2-Figure 4 In order to ensure the stable lifting of the cleaning robot, the lifting machine assembly 4 is usually set into two groups and respectively arranged on both sides of the fuselage frame 1. Through the synchronous action of the two groups of lifting machine assemblies 4, the reliability of the lifting action and the consistency of the posture of the cleaning robot during the cleaning process can be guaranteed.

[0057] Preferably, the cleaning robot has an automatic deviation adjustment function. In a specific embodiment disclosed in the present utility model, a control system 11 (or an electronic control system) and a posture sensor are provided on the fuselage frame 1. The posture sensor is used to detect the posture of the fuselage frame 1 and transmit an adjustment signal. The control system 11 is used to receive the adjustment signal and control the speed regulating motor 27 to operate so that the cleaning robot always maintains the same posture during the cleaning process. For example, when the posture sensor detects that the fuselage frame 1 is tilted and exceeds a set range, the control system 11 will automatically control a hoist assembly 4 to adjust the lifting height so that the fuselage frame 1 is in a horizontal posture, and the adjustment process does not affect the ongoing operation.

[0058] The specific position of the posture sensor on the fuselage frame 1 is not limited. At the same time, by adjusting the posture of the cleaning robot in real time, early warning can be given, and manual intervention and accidents can be reduced, thereby improving safety and convenience of use.

[0059] In addition, the control system 11 can also control the roller brush. Specifically, a roller brush driving motor 10 is provided on the fuselage frame 1. The roller brush driving motor 10 can drive the roller brush to roll to clean the wall surface to be cleaned. The roller brush driving motor 10 is electrically connected to the control system 11 and can be controlled by the control system 11. Figure 5 The roller brush driving motor 10 and the control system 11 can be set at the bottom position inside the body frame 1 by bolts to ensure the stability of the overall center of gravity of the cleaning robot.

[0060] The roller brush driving motor 10 can be a plurality of roller brushes corresponding to each other, preferably one, and can simultaneously drive the plurality of roller brushes through a transmission mechanism. In one embodiment, there are two roller brushes, namely an upper roller brush 2 and a lower roller brush 3. In the vertical direction, the upper roller brush 2 is arranged above the lower roller brush 3. Figure 6 and Figure 7The upper roller brush 2 and the lower roller brush 3 rotate respectively driven by the first rotating shaft and the second rotating shaft. The first rotating shaft and the second rotating shaft are rotatably arranged on the fuselage frame 1 through the bearing seat, and the first ends of both are provided with synchronous wheels 12, and the two synchronous wheels 12 are connected by a first synchronous belt 13. The second end of the second rotating shaft of the first rotating shaft and the second rotating shaft, which is closer to the roller brush driving motor 10, is provided with a synchronous wheel, and the synchronous wheel is connected to the roller brush driving motor 10 through a second synchronous belt 14.

[0061] Since the cleaning robot is operated at high altitude, in order to ensure the safety of the operation, the speed regulating motor 27 has a brake function, which can realize automatic brake in the case of power failure, and realize brake and release brake under the control of the control system 11, so that the cleaning robot can be reliably fixed on the suspension rope. In order to prevent the speed regulating motor 27 from automatically braking and hovering in the air and unable to land due to power failure, a manual brake release component is also provided on the speed regulating motor 27, and the manual brake release component can be manually operated by the operator on the ground to release the brake and realize the landing of the cleaning robot.

[0062] In a specific embodiment disclosed in the utility model, a brake release handle 26 for releasing the brake is provided on the speed regulating motor 27. According to the specific structural form of the speed regulating motor 27 and its setting posture on the fuselage frame 1, the brake can be released by pushing the brake release handle 26 upward. Correspondingly, the manual brake release assembly includes a transmission rod 25, a pull ring 24 and a brake release push rod 22. The transmission rod 25 is rotatably arranged on the hoist body 21 and forms a lever mechanism. The pull ring 24 and the brake release push rod 22 are respectively connected to the two ends of the transmission rod 25, and the brake release push rod 22 is connected to the brake release handle 26. The pull ring 24 can be connected to a pull rope, so that the operator on the ground can pull the pull ring 24 downward through the pull rope, and then the brake release push rod 22 pushes the brake release handle 26 upward to release the brake.

[0063] Specifically, the transmission rod 25 is arranged on the brake release fixing plate 28 through the transmission support shaft 23, and the connection position of the two forms the rotation fulcrum of the transmission rod 25, and the brake release fixing plate 28 is fixed to the hoist body 21. In the above embodiment, the manual brake release assembly changes the direction of the pulling force of the operator by means of the lever mechanism formed by the transmission rod 25, and realizes the pushing action of the brake release handle 26, which has the advantages of compact structure, not easy to be damaged, easy to install, and more labor-saving.

[0064] It can be understood that in some embodiments, the brake release handle 26 is released by moving it downward. In this embodiment, the pull ring 24 can be directly set on the brake release handle 26, so that the operator can directly pull the brake release handle 26 downward to release the brake.

[0065] In order to keep the roller brush always in contact with the wall surface to be cleaned during the cleaning process of the cleaning robot without affecting the lifting action of the cleaning robot, in one embodiment, Fig.11 A magnetic auxiliary wheel assembly 6 is provided on the fuselage frame 1, and the magnetic auxiliary wheel assembly 6 includes a connecting assembly, a magnetic component 44 and an omnidirectional wheel 41. The connecting assembly is connected to the fuselage frame 1, and the magnetic component 44 is provided on the connecting assembly to generate an adsorption force on the wall surface to be cleaned. The omnidirectional wheel 41 is rotatably provided on the connecting assembly to roll on the wall surface to be cleaned, and a gap is provided between the magnetic component 44 and the wall surface to be cleaned to avoid direct contact between the magnetic component 44 and the wall surface to be cleaned, thereby damaging the wall surface to be cleaned and affecting the position movement of the cleaning robot relative to the wall surface to be cleaned.

[0066] The magnetic member 44 may be a magnet. Since the magnetic member 44 needs to rely on the metal part on the wall to be cleaned to realize its adsorption function, the cleaning robot corresponding to this embodiment can be used to clean metal walls such as wind turbine towers. The magnetic auxiliary wheel assembly 6 can simultaneously ensure the clearance and adhesion between the cleaning robot and the wall to be cleaned.

[0067] Furthermore, a plurality of protective pads 43 are provided on the connection assembly, and the surface of the magnetic element 44 facing the wall to be cleaned is defined as the adsorption surface, and the surface of the protective pad 43 facing the wall to be cleaned is defined as the protective surface. There are multiple omnidirectional wheels 41, and a rolling support surface is formed for rolling with the wall to be cleaned. Then, the protective surface is located between the adsorption surface and the rolling support surface, that is, the protective surface can be closer to the wall to be cleaned than the magnetic surface, and farther away from the wall to be cleaned than the roller support surface. When the omnidirectional wheel 41 falls off, the protective pad 43 can prevent the magnetic element 44 from being directly adsorbed on the wall to be cleaned and scratching the wall to be cleaned.

[0068] When the magnetic member 44 is a regular rectangular block structure or is spliced ​​into a regular rectangular block structure, the four protective pads 43 can be respectively arranged at the four corners of the magnetic member 44. Preferably, the adsorption surface, the protective surface and the rolling support surface are parallel to each other.

[0069] In order to adapt to various forms of walls to be cleaned, combined Fig.12 The connecting assembly includes a support tube 48 and a support wheel frame 45. The support tube 48 is connected to the fuselage frame 1. A slide groove is provided on the support wheel frame 45. The support tube 48 is hinged by a connecting pin 47 and is slidably arranged in the slide groove. The magnetic component 44 is arranged on the support wheel frame 45. The omnidirectional wheel 41 is rotatably arranged on the support wheel frame 45 through the omnidirectional wheel support shaft 42. The magnetic component 44 and the omnidirectional wheel 41 can follow the support wheel frame 45 to swing at a certain angle relative to the auxiliary wheel mounting plate 46 and the fuselage frame 1 and slide along the slide groove for a certain distance, so as to adapt to the curved surface of the wall to be cleaned.

[0070] In order to facilitate the adjustment of the installation position of the magnetic auxiliary wheel assembly 6, an auxiliary wheel mounting plate 46 is provided on the fuselage frame 1, and an installation adjustment groove is provided on the auxiliary wheel mounting plate 46, and the connection assembly is adjustable in the installation adjustment groove through the bolt position. The surface formed by the plurality of roller brushes for contacting the wall surface to be cleaned is defined as the cleaning surface, and preferably, the installation adjustment groove extends in a direction perpendicular to the cleaning surface.

[0071] Among them, one connection component corresponds to two auxiliary wheel mounting plates 46 , the auxiliary wheel mounting plates 46 are directly welded to the fuselage frame 1 , and the support tube 48 is arranged between the two auxiliary wheel mounting plates 46 .

[0072] The magnetic auxiliary wheel assembly 6 can be specifically a plurality of groups arranged on the body frame 1, and all are arranged at the bottom of the body frame 1 facing the wall to be cleaned, so as to ensure the support effect and center of gravity stability of the cleaning robot as a whole and the wall to be cleaned.

[0073] In one embodiment, two groups of magnetic auxiliary wheel assemblies 6 are symmetrically arranged at the bottom of the fuselage frame 1, and two supporting wheels 7 are symmetrically arranged at the top. Both the magnetic auxiliary wheel assembly 6 and the supporting wheels 7 are used to roll with the wall surface to be cleaned to facilitate the movement of the cleaning robot relative to the wall surface to be cleaned. At the same time, the supporting wheels 7 are mainly used to facilitate the disassembly and assembly of the cleaning robot when it moves to the top of the wall surface to be cleaned. Both the magnetic auxiliary wheel assembly 6 and the supporting wheels 7 can be fixed to the fuselage frame 1 by bolts.

[0074] A water spray assembly 5 is arranged on the fuselage frame 1. The water spray assembly 5 can spray cleaning liquid (water containing detergent) and cleaning water, and the water spray assembly 5 is used to connect to an independently arranged water source through a water pipe. In this embodiment, the setting of the water tank on the cleaning robot is cancelled, and the cleaning robot can draw water from the ground for cleaning, which greatly reduces the weight of the structure, reduces the volume of the fuselage, and facilitates the loading and unloading and on-site operation of the cleaning robot.

[0075] Combination Figure 1 and Fig.13 The water spray assembly 5 includes a plurality of water spray pipes, which are arranged one by one above each roller brush. Each water spray pipe is provided with a plurality of water spray nozzles 57, which can evenly spray the cleaning water on the wall surface to be cleaned to ensure the cleaning effect of each roller brush. The water spray pipe can be arranged on the fuselage frame 1 through a pipe clamp. Figure 1 As shown in the figure, an upper water spray pipe 56 is correspondingly arranged above the upper roller brush 2, and a lower water spray pipe 55 is correspondingly arranged above the lower roller brush 3.

[0076] Each water spray pipe is connected to the same water inlet pipe, one end of which has a water inlet joint 51, which can be connected to a water pipe and draw water from the ground. An electromagnetic water valve 53 is provided on the water inlet pipe. The electromagnetic water valve 53 is controlled by the control system 11 and can control the on and off of the water flow.

[0077] As a further optimization scheme, a heater 52 is provided on the water inlet pipe to increase the temperature of the cleaning water or heat the cleaning water in real time to improve the cleaning effect.

[0078] A flow meter 54 may also be provided on the water inlet pipe to detect water consumption and provide reference data for the operation, thereby facilitating the optimization of the product and the operation process.

[0079] In order to facilitate the movement of the cleaning robot, a plurality of universal wheels 8 are provided at the bottom of the body frame 1 .

[0080] In one embodiment, a distance sensor 9 is installed on the top of the fuselage frame 1. When the cleaning robot cleans the outer wall of the wind turbine tower, the distance sensor 9 can measure the distance from the top of the cleaning robot to the head of the wind turbine tower, and give an early warning, so that the cleaning robot can gradually reduce the lifting speed. When reaching the top of the wind turbine tower, the cleaning robot automatically stops lifting to avoid collision with the head of the wind turbine tower. The distance sensor can specifically be a laser sensor.

[0081] It is understandable that each of the above-mentioned power elements and sensors can be electrically connected to the control system 11 to facilitate control and layout.

[0082] In a specific implementation process, the cleaning robot first rises from the ground to the top of the wind turbine tower. During the rising process, the water spray component 5 sprays cleaning liquid onto the outer wall of the wind turbine tower. After moving to the top, the cleaning robot descends. When it descends to a certain position, the cleaning robot stops, the speed regulating motor 27 automatically brakes, and the roller brush drive motor 10 drives the roller brush to roll to operate. At the same time, the water spray component 5 sprays cleaning water onto the outer wall of the wind turbine tower. After cleaning, the speed regulating motor 27 releases the brake, and the cleaning robot moves down to another position and stops the brake. The above process is repeated to complete the cleaning.

[0083] The above description of the disclosed embodiments enables professionals and technicians in the field to implement or use the utility model. Various modifications to these embodiments will be obvious to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the utility model. The specific technical means in some embodiments can be combined in part or in whole into another embodiment without being explicitly excluded by another embodiment. Therefore, the utility model will not be limited to the embodiments shown in this article, but will conform to the widest range consistent with the principles and novel features disclosed herein.

Claims

1. A cleaning robot, characterized in that: include: A fuselage frame (1), wherein a plurality of roller brushes are rotatably arranged on the fuselage frame (1); The hoist assembly (4) comprises a hoist body (21) and a speed regulating motor (27); the hoist body (21) is arranged on the machine frame (1) and has a hoist rope threading hole (36); a sling rope is used to enter the hoist body (21) through the hoist rope threading hole (36); the speed regulating motor (27) is arranged on the hoist body (21) and is used to drive the hoist body (21) to wind the sling rope so as to lift the machine frame (1); and the speed regulating motor (27) is a variable frequency speed regulating motor.

2. The cleaning robot according to claim 1, characterized in that: The lifting machine components (4) are in two groups and are respectively arranged on both sides of the fuselage frame (1); The fuselage frame (1) is provided with a control system (11) and a posture sensor, wherein the posture sensor is used to detect the posture of the fuselage frame (1) and transmit an adjustment signal, and the control system (11) is used to receive the adjustment signal and control the speed regulating motor (27) of the hoist assembly (4) to operate so as to adjust the posture of the fuselage frame (1).

3. The cleaning robot according to claim 1, characterized in that: The speed regulating motor (27) has a brake function, and a manual brake release component is provided on the speed regulating motor (27), and the manual brake release component is used for an operator to manually release the brake of the speed regulating motor (27).

4. The cleaning robot according to claim 3, characterized in that: The speed regulating motor (27) is provided with a brake release handle (26) for releasing the brake; The manual brake release assembly comprises a transmission rod (25), a pull ring (24) and a brake release push rod (22); the transmission rod (25) is rotatably arranged on the hoist body (21) to form a lever mechanism; the pull ring (24) and the brake release push rod (22) are respectively connected to the two ends of the transmission rod (25), and the brake release push rod (22) is connected to the brake release handle (26); the pull ring (24) is used for an operator to pull so that the brake release push rod (22) pushes the brake release handle (26) to release the brake.

5. The cleaning robot according to any one of claims 1 to 4, characterized in that: The fuselage frame (1) is provided with a magnetic auxiliary wheel assembly (6), and the magnetic auxiliary wheel assembly (6) comprises: A connecting assembly connected to the fuselage frame (1); A magnetic attraction member (44), arranged on the connecting assembly, for generating an adsorption force on the wall surface to be cleaned; The omnidirectional wheel (41) is rotatably arranged on the connecting assembly and is used for rolling on the wall surface to be cleaned, so that a gap exists between the magnetic attraction member (44) and the wall surface to be cleaned.

6. The cleaning robot according to claim 5, characterized in that: The surface of the magnetic attraction member (44) facing the wall to be cleaned is used as an adsorption surface, a plurality of protective pads (43) are provided on the connection assembly, and the surface of the protective pads (43) facing the wall to be cleaned is used as a protective surface. There are a plurality of omnidirectional wheels (41) that form a rolling support surface for rolling with the wall to be cleaned, and the protective surface is located between the adsorption surface and the rolling support surface.

7. The cleaning robot according to claim 5, characterized in that: The connecting assembly comprises a supporting tube (48) and a supporting wheel frame (45), wherein the supporting tube (48) is connected to the fuselage frame (1), a slide groove is provided on the supporting wheel frame (45), the supporting tube (48) is hinged by a connecting pin (47) and is slidably arranged in the slide groove, and the magnetic attraction member (44) and the omnidirectional wheel (41) are both arranged on the supporting wheel frame (45); and / or, An auxiliary wheel mounting plate (46) is arranged on the fuselage frame (1), an installation adjustment groove is provided on the auxiliary wheel mounting plate (46), and the position of the connection component is adjustably arranged in the installation adjustment groove.

8. The cleaning robot according to claim 5, characterized in that: Two groups of magnetic auxiliary wheel assemblies (6) are symmetrically arranged at the bottom of the fuselage frame (1), and two supporting wheels (7) are symmetrically arranged at the top. Both the magnetic auxiliary wheel assemblies (6) and the supporting wheels (7) are used for rolling cooperation with the wall surface to be cleaned.

9. The cleaning robot according to any one of claims 1 to 4, characterized in that: A water spray assembly (5) is arranged on the fuselage frame (1), and the water spray assembly (5) comprises a plurality of water spray pipes, the water spray pipes are arranged on the fuselage frame (1) and are arranged one by one above each of the roller brushes, and each of the water spray pipes is provided with a plurality of water spray nozzles (57) for spraying water onto the wall surface to be cleaned, and the water spray assembly (5) is used to be connected to an independently arranged water source via a water pipe.

10. The cleaning robot according to claim 9, characterized in that: The water spray assembly (5) is provided with a heater (52) and / or a flow meter (54).

11. The cleaning robot according to any one of claims 1 to 4, characterized in that: A pulley (32) is rotatably provided on the hoist body (21). In the vertical direction, the pulley (32) is located above the hoist rope threading hole (36). The pulley (32) is used to cooperate with the lifting rope to guide the lifting rope to the lifting rope threading hole (36).

12. The cleaning robot according to any one of claims 1 to 4, characterized in that: A distance sensor (9) is installed on the top of the fuselage frame (1), and the distance sensor (9) is used to detect the distance between the cleaning robot and the head of the wind turbine tower; and / or, A plurality of universal wheels (8) are arranged at the bottom of the fuselage frame (1).

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