Cleaning robot

Abstract

The utility model relates to the technical field of robots, and discloses a cleaning robot which comprises a wall-climbing robot and a plurality of cleaning devices, and one of the cleaning devices is selected to be detachably connected with the wall-climbing robot. Wherein the wall-climbing robot is used for driving the cleaning device to move on the tank wall of the storage tank with the wind-resistant ring; the multiple cleaning devices are used for cleaning the tank wall and the outer wall face of the wind-resistant ring correspondingly, and therefore the storage tank can be cleaned more comprehensively.

Description

Technical Field

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

[0002] As a tank structure mainly for storing oil substances such as petroleum and diesel, due to being exposed to the air for a long time, the storage tank has problems such as corrosion and rust, which not only affects the aesthetics of the wind girder of the storage tank, but also easily shortens the service life of the storage tank.

[0003] At present, the cleaning of storage tanks mainly includes two methods: manual cleaning and robot cleaning. Manual cleaning requires working at heights and is relatively dangerous. While robot cleaning is relatively single and the cleaning of storage tanks is not comprehensive enough. Summary of the Utility Model

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides a cleaning robot that can clean storage tanks more comprehensively.

[0005] According to the cleaning robot of the first aspect embodiment of the utility model, the cleaning robot includes a wall-climbing robot and a plurality of cleaning devices, and the plurality of cleaning devices are used to be detachably connected to the wall-climbing robot selectively; wherein, the wall-climbing robot is used to drive the cleaning device to move on the tank wall of the storage tank with a wind girder; the plurality of cleaning devices are used to clean the tank wall and the outer wall surface of the wind girder respectively.

[0006] According to the cleaning robot of the embodiment of the utility model, it has at least the following beneficial effects: The cleaning robot includes a wall-climbing robot and a cleaning device. The wall-climbing robot is used to drive the cleaning device to move on the tank wall so that the cleaning device can clean the tank wall and the wind girder of the storage tank. The cleaning robot can include a plurality of cleaning devices, and the plurality of cleaning devices are used to be detachably connected to the wall-climbing robot selectively. The plurality of cleaning devices are used to clean the tank wall and the outer wall surface of the wind girder. In this way, the cleaning robot can replace different cleaning devices to clean multiple positions of the storage tank. The cleaning robot can not only clean the tank wall, but also clean the wind girder, which helps to clean the storage tank more comprehensively, expands the application range of the cleaning robot, improves the cleaning efficiency of the storage tank, improves the rust and damage conditions of the storage tank, and eliminates the need for workers to perform dangerous high-altitude operations.

[0007] According to some embodiments of the utility model, along the vertical direction, the wind girder includes an upward outer side surface; the plurality of cleaning devices include a first cleaning device, the first cleaning device includes a cleaning member, and the bottom surface of the cleaning member is provided with liquid spraying holes, and the bottom surface is used to face the outer side surface, and the liquid spraying holes are used to spray cleaning agent toward the outer side surface.

[0008] According to some embodiments of the present utility model, the wind resistance ring further includes a top surface facing away from the tank wall; the plurality of cleaning devices include a second cleaning device, the second cleaning device includes a cleaning member, the bottom surface of the cleaning member is provided with liquid spraying holes, the bottom surface is used to face the top surface, and the liquid spraying holes are used to spray cleaning agent towards the top surface.

[0009] According to some embodiments of the present utility model, the second cleaning device further includes a mounting frame, the mounting frame includes a first mounting member and a second mounting member, the first mounting member is connected to the wall-climbing robot, and the cleaning member is connected to the second mounting member; the second mounting member is slidably connected to the first mounting member along the direction of the tank wall towards the top surface.

[0010] According to some embodiments of the present utility model, the storage tank includes a plurality of wind resistance rings arranged at intervals; the wind resistance ring includes a body and a plurality of reinforcing ribs, the body is wound around the tank wall, a plurality of reinforcing ribs are all connected between the body and the tank wall and are distributed at intervals; along the vertical direction, the reinforcing ribs are connected below the body; between two adjacent wind resistance rings, the tank wall includes a first wall surface and a second wall surface that are distributed vertically and connected, the first wall surface is located between the reinforcing rib and the body; the plurality of cleaning devices include a third cleaning device, and the wall-climbing robot is used to drive the third cleaning device to move on the second wall surface; the third cleaning device includes a mounting frame and a cleaning member, the cleaning member is telescopically connected to the mounting frame; the bottom surface of the cleaning member is provided with liquid spraying holes, the bottom surface is used to face the first wall surface, and the cleaning member is used to extend between the reinforcing rib and the body to spray cleaning agent towards the first wall surface through the liquid spraying holes.

[0011] According to some embodiments of the present utility model, the third cleaning device further includes a driving member, the driving member is connected to the mounting frame, the cleaning member is connected to the driving end of the driving member, and the driving member is used to drive the cleaning member to expand and contract.

[0012] According to some embodiments of the present utility model, the plurality of cleaning devices include a fourth cleaning device, the fourth cleaning device includes a cleaning member, the bottom surface of the cleaning member is provided with liquid spraying holes, the bottom surface is used to face the tank wall, and the liquid spraying holes are used to spray cleaning agent towards the tank wall.

[0013] According to some embodiments of the present utility model, the cleaning device includes a mounting frame and a cleaning member, the mounting frame is hinged to the wall-climbing robot, the cleaning member is connected to the mounting frame, and the cleaning member is used to clean different outer wall surfaces of the tank wall and the wind resistance ring.

[0014] According to some embodiments of the present utility model, the cleaning robot further includes a fixing member and a hinged member; the wall-climbing robot includes a connecting portion, and the connecting portion is provided with a first fixing hole and a first connecting hole parallel to the axial direction; the mounting frame is provided with a second fixing hole and a second connecting hole parallel to the axial direction; the fixing member is inserted into the first fixing hole and the second fixing hole; the hinged member is inserted into the first connecting hole and the second connecting hole, and the second connecting hole is a kidney-shaped hole, and the hinged member is adapted to move back and forth in the kidney-shaped hole along the direction from the bottom to the top of the wall-climbing robot.

[0015] According to some embodiments of the present utility model, the cleaning member is rotatably connected to the mounting frame; and / or, the cleaning device further includes universal wheels for rolling on the storage tank, and the universal wheels are connected to the mounting frame to space the cleaning member from the storage tank; and / or, the cleaning device further includes a protective member, the protective member is connected to the mounting frame and is located between the mounting frame and the cleaning member; the protective member is used to contact the wind resisting ring to space the cleaning member from the wind resisting ring.

[0016] Additional aspects and advantages of the present utility model will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following further describes the present utility model in conjunction with the drawings and embodiments, where:

[0018] Figure 1 shows a schematic structural diagram of a first cleaning device provided by an embodiment of the present utility model;

[0019] Figure 2 shows a schematic structural diagram of the first cleaning device cleaning the storage tank provided by an embodiment of the present utility model;

[0020] Figure 3 shows a schematic structural diagram of a second cleaning device provided by an embodiment of the present utility model;

[0021] Figure 4 shows a schematic structural diagram of the second cleaning device cleaning the storage tank provided by an embodiment of the present utility model;

[0022] Figure 5 shows a schematic structural diagram of a third cleaning device provided by an embodiment of the present utility model;

[0023] Figure 6 shows a schematic structural diagram of the third cleaning device cleaning the storage tank provided by an embodiment of the present utility model;

[0024] Figure 7 shows a schematic structural diagram of a fourth cleaning device provided by an embodiment of the present utility model;

[0025] Figure 8 shows a schematic structural diagram of the fourth cleaning device cleaning the storage tank provided by an embodiment of the present utility model;

[0026] Figure 9 shows a partial exploded schematic structural diagram of the cleaning device provided by an embodiment of the present utility model.

[0027] REFERENCE SIGNS:

[0028] cleaning robot 100;

[0029] Cleaning device 110; First cleaning device 120; Second cleaning device 130; Third cleaning device 140; Fourth cleaning device 150;

[0030] Mounting frame 111; First mounting member 1111; Second mounting member 1113; Second fixing hole 1115; Second connection hole 1117; Second convex block 1114; First mounting portion 1119; First sliding portion 1121; Second mounting portion 1123; Second sliding portion 1124;

[0031] Cleaning member 113; Bottom surface 1131; Liquid spraying holes 1133;

[0032] Driving member 114; Water inlet assembly 115; Universal wheels 117; Protective member 119;

[0033] Wall-climbing robot 160; First fixing hole 161; First connection hole 163; First convex block 164; Connection portion 165;

[0034] Fixing member 170; Hinge member 180;

[0035] Storage tank 200; Tank wall 210; First wall surface 211; Second wall surface 213; Wind girder 220; Body 221; Outer side surface 2211; Top surface 2213; Reinforcing ribs 223. Detailed implementation manners

[0036] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation to the present utility model.

[0037] In the description of the present utility model, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0038] In the description of the present utility model, the meaning of several is more than one, the meaning of a plurality is more than two, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number. If the first and second are described only for the purpose of distinguishing technical features, they should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or the sequence of the indicated technical features.

[0039] In the description of the present utility model, unless otherwise clearly defined, terms such as "arrangement", "installation", "connection", etc. shall be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present utility model in combination with the specific content of the technical solution.

[0040] In the description of the present utility model, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0041] As a tank structure mainly for storing oil substances such as petroleum and diesel, due to being exposed to the air for a long time, the storage tank has problems such as corrosion and rust, which not only affect the appearance of the storage tank, but also easily shorten the service life of the storage tank.

[0042] Wind bracing rings are usually provided on the storage tank to increase the structural strength of the storage tank. At present, the cleaning of the storage tank is mainly carried out in two ways: manual cleaning and robot cleaning. Manual cleaning requires working at heights and is relatively dangerous. While robot cleaning can only clean the tank wall or the wind bracing ring singly and cannot take into account both the tank wall and the wind bracing ring at the same time, so the cleaning of the storage tank is not comprehensive enough.

[0043] Please refer to Figures 1 to 2 , an embodiment of the present application provides a cleaning robot 100, and the cleaning robot 100 can be used to clean the storage tank 200. For example, the cleaning robot 100 can be used to remove rust from the storage tank 200.

[0044] The storage tank 200 includes a tank wall 210 and a wind bracing ring 220. The wind bracing ring 220 can be wound around the tank wall 210. The wind bracing ring 220 can be used to increase the structural strength of the storage tank 200, improve the wind resistance performance of the storage tank 200, and improve the deformation condition of the tank wall 210. For example, the storage tank 200 can include a tank body and a wind bracing ring 220, and the tank wall 210 can be the outer peripheral wall of the tank body. The cleaning robot 100 can be used to clean the outer wall surface of the tank wall 210, the wind bracing ring 220, and the connection position between the wind bracing ring 220 and the tank wall 210. In some other embodiments, the cleaning robot 100 can also be used to clean the inner peripheral wall of the tank body.

[0045] The cleaning robot 100 includes a cleaning device 110 and a wall-climbing robot 160. The wall-climbing robot 160 is used to drive the cleaning device 110 to move on the tank wall 210 so that the cleaning device 110 can clean the tank wall 210 and the wind bracing ring 220 of the storage tank 200.

[0046] The cleaning robot 100 may include a plurality of cleaning devices 110, which are configured to be detachably connected to the wall-climbing robot 160 selectively. The plurality of cleaning devices 110 are respectively configured to clean the outer wall surfaces of the tank wall 210 and the wind girder 220. In this way, the cleaning robot 100 can clean multiple positions of the storage tank 200 by replacing different cleaning devices 110. The cleaning robot 100 can not only clean the tank wall 210, but also clean the wind girder 220, which helps to clean the storage tank 200 more comprehensively, expands the application range of the cleaning robot 100, improves the cleaning efficiency of the storage tank 200, improves the rust and damage conditions of the storage tank 200, and eliminates the need for workers to perform dangerous high-altitude operations.

[0047] Among them, the cleaning device 110 can clean and remove rust from the outer wall surfaces of the tank wall 210 and the wind girder 220, or can clean and remove dust from the outer wall surfaces of the tank wall 210 and the wind girder 220.

[0048] The plurality of cleaning devices 110 are respectively configured to clean the outer wall surfaces of the tank wall 210 and the wind girder 220, which may mean that each cleaning device 110 can clean one of the outer wall surfaces of the tank wall 210 and the wind girder 220. For example, one of the plurality of cleaning devices 110 can clean the tank wall 210, and another one of the plurality of cleaning devices 110 can clean one of the outer wall surfaces of the wind girder 220, and so on.

[0049] In some embodiments, along the vertical direction, the wind girder 220 may include an upward outer side surface 2211, and the wind girder 220 may further include a top surface 2213 facing away from the tank wall 210. The top surface 2213 and the outer side surface 2211 may be connected.

[0050] The cleaning robot 100 can be used to clean the outer side surface 2211 and the top surface 2213 of the wind girder 220.

[0051] Please refer to Figure 6 , in some embodiments, the wind girder 220 may include a body 221 and a plurality of reinforcing ribs 223. The body 221 may be wound around the tank wall 210, and the plurality of reinforcing ribs 223 can be connected between the body 221 and the tank wall 210 and are distributed at intervals; along the vertical direction, the reinforcing ribs 223 can be connected below the body 221. In this way, the reinforcing ribs 223 can support between the body 221 and the tank wall 210, which helps to further improve the structural strength of the storage tank 200.

[0052] In some embodiments, the storage tank 200 may include a plurality of wind-resistant rings 220 arranged at intervals to further enhance the structural strength and wind resistance of the storage tank 200. For example, the plurality of wind-resistant rings 220 are sequentially distributed along the vertical direction on the outer peripheral wall of the tank body.

[0053] In some embodiments, between two adjacent wind-resistant rings 220, the tank wall 210 includes a first wall surface 211 and a second wall surface 213 that are distributed along the vertical direction and connected to each other.

[0054] Among them, the first wall surface 211 may be located between the reinforcing rib 223 and the main body 221.

[0055] It should be noted that there may or may not be a demarcation line between the first wall surface 211 and the second wall surface 213.

[0056] Please refer to Figures 1 to 2 , in some embodiments, the cleaning device 110 includes a mounting frame 111 and a cleaning member 113. The cleaning member 113 may be connected to the mounting frame 111, and the cleaning member 113 is used to clean different outer wall surfaces of the tank wall 210 and the wind-resistant ring 220.

[0057] It can be understood that among the plurality of cleaning devices 110, each cleaning device 110 may include a mounting frame 111 and a cleaning member 113.

[0058] Among them, the mounting frame 111 is used to be connected to the wall-climbing robot 160, and the cleaning member 113 is connected to the mounting frame 111, so that the wall-climbing robot 160 can drive the cleaning device 110 to move through the mounting frame 111, thereby facilitating the cleaning member 113 to clean the storage tank 200. For example, a liquid spraying hole 1133 may be provided on the bottom surface 1131 of the cleaning member 113, and the liquid spraying hole 1133 can spray a cleaning agent on the storage tank 200 to clean the storage tank 200.

[0059] It can be understood that since the plurality of cleaning devices 110 are respectively used to clean different wall surfaces of the storage tank 200, the structure of the mounting frame 111 can be designed according to actual needs, so that the cleaning members 113 in the plurality of cleaning devices 110 can respectively clean different wall surfaces of the storage tank 200.

[0060] Among them, different wall surfaces of the storage tank 200 may refer to the tank wall 210, the outer side surface 2211 of the wind-resistant ring 220, the top surface 2213 of the wind-resistant ring 220, and so on.

[0061] The cleaning agent may refer to a cleaning agent, a rust remover, or other cleaning materials. The liquid spraying hole 1133 can also be used to spray liquid paint to touch up the surface of the storage tank 200, or the liquid spraying hole 1133 can also be used to spray other materials.

[0062] Please refer to Figure 1, Figure 2 and Figure 9 , in some embodiments, the mounting frame 111 can be hinged to the wall-climbing robot 160. Thus, when the wall-climbing robot 160 drives the cleaning device 110 to move on the storage tank 200, the mounting frame 111 can float up and down to improve the obstacle-crossing ability of the cleaning device 110, which helps the wall-climbing robot 160 drive the cleaning device 110 to move more stably.

[0063] In some embodiments, the cleaning robot 100 can further include a fixing member 170 and a hinged member 180. The wall-climbing robot 160 can include a connecting portion 165, and the connecting portion 165 can be used to connect with the mounting frame 111.

[0064] The connecting portion 165 can be provided with a first fixing hole 161 and a first connecting hole 163 with parallel axial directions; the mounting frame 111 is provided with a second fixing hole 1115 and a second connecting hole 1117 with parallel axial directions.

[0065] The fixing member 170 can be inserted into the first fixing hole 161 and the second fixing hole 1115, and the hinged member 180 can be inserted into the first connecting hole 163 and the second connecting hole 1117. The second connecting hole 1117 is an oblong hole, and the hinged member 180 is adapted to move back and forth in the oblong hole along the direction from the bottom to the top of the wall-climbing robot 160. Thus, the mounting frame 111 can float up and down to improve the obstacle-crossing ability of the cleaning device 110, which helps the wall-climbing robot 160 drive the cleaning device 110 to move more stably. Among them, the oblong hole is a strip-shaped hole, and the length direction of the strip-shaped hole is generally the direction from the bottom to the top of the wall-climbing robot 160.

[0066] As an example, the connecting portion 165 can be located at the front end of the wall-climbing robot 160, and the connecting portion 165 can include a first convex block 164. The first convex block 164 can be provided with a first fixing hole 161 and a first connecting hole 163, and the first fixing hole 161 and the second connecting hole 1117 can be arranged adjacent to each other.

[0067] One end of the mounting bracket 111 may be provided with two spaced and oppositely arranged first bumps 1114. Both of the two first bumps 1114 may be provided with second fixing holes 1115, and the two second fixing holes 1115 may be coaxially arranged. Both of the two first bumps 1114 may be provided with second connecting holes 1117, and the two second connecting holes 1117 may be coaxially arranged. The second fixing hole 1115 and the second connecting hole 1117 may be adjacently arranged. There may be an installation space between the two first bumps 1114. The first bump 164 may be inserted into the installation space. The first connecting hole 163 and the second connecting hole 1117 are opposite to each other, and the first fixing hole 161 and the second fixing hole 1115 are opposite to each other. The fixing member 170 may be inserted into the second fixing holes 1115 of the two first bumps 1114 and the first fixing hole 161 of the first bump 164. The hinging member 180 may be inserted into the second connecting holes 1117 of the two first bumps 1114 and the first connecting hole 163 of the first bump 164.

[0068] Among them, both the first fixing hole 161 and the second fixing hole 1115 may adopt round holes. Correspondingly, the fixing member 170 may adopt a round shaft adapted to the first fixing hole 161 and the second fixing hole 1115. The first connecting hole 163 may adopt a round hole, and the hinging member 180 may adopt a round shaft adapted to the first connecting hole 163. The second connecting hole 1117 may adopt an oblong hole, and the hinging member 180 may slide back and forth along the length direction of the oblong hole so that the cleaning device 110 can float up and down relative to the storage tank 200. The length direction of the oblong hole is generally from the bottom to the top of the wall-climbing robot 160.

[0069] The fixing member 170 may adopt a bolt. The screw part of the bolt may include a smooth rod section and a threaded section. The smooth rod section may be inserted into the first fixing hole 161 and the second fixing hole 1115, and the threaded section may be exposed to connect a nut. Similarly, the hinging member 180 may adopt a bolt. The screw part of the bolt may include a smooth rod section and a threaded section. The smooth rod section may be inserted into the first connecting hole 163 and the second connecting hole 1117, and the threaded section may be exposed to connect a nut. In this way, a hinge connection can be achieved between the mounting bracket 111 and the wall-climbing robot 160.

[0070] Alternatively, the hinging member 180 may adopt a screw. The screw may include a smooth rod section and a threaded section. The smooth rod section is located between the screw head and the threaded section. The threaded section may be threadedly connected to the first connecting hole 163. The second connecting hole 1117 may adopt an oblong hole, and the smooth rod section may be located in the second connecting hole 1117. It can be understood that the number of the hinging members 180 may be two, which helps to make the connection between the mounting bracket 111 and the wall-climbing robot 160 more stable.

[0071] It should be noted that the above examples are only for easy understanding, and other hinged methods can also be adopted between the wall-climbing robot 160 and the mounting frame 111.

[0072] Please refer to Figures 1 to 2 , in some embodiments, the cleaning member 113 is rotatably connected to the mounting frame 111 to expand the spraying range of the cleaning agent, which helps to improve the cleaning speed.

[0073] As an example, the cleaning device 110 may further include a water inlet assembly 115. The water inlet assembly 115 may be connected to the mounting frame 111. For example, the water inlet assembly 115 and the cleaning member 113 may be located on opposite sides of the mounting frame 111 respectively. The water inlet assembly 115 may include a fixed seat and a rotating member. The fixed seat may be mounted on the mounting frame 111, and the rotating member is rotatably located within the fixed seat. The rotating member may be provided with a water passage, and an inlet and an outlet communicating with the water passage are respectively provided at both ends of the rotating member.

[0074] One end of the rotating member provided with the inlet is used to connect to a water pipe, and the water pipe may be used to connect to a storage device containing the cleaning agent. One end of the rotating member provided with the outlet is used to connect to the cleaning member 113, and the outlet may communicate with the liquid spraying hole 1133. In this way, the cleaning agent provided by the storage device can enter the water passage through the water pipe and then be sprayed onto the storage tank 200 through the liquid spraying hole 1133 to clean the storage tank 200.

[0075] It can be understood that when the cleaning agent passes through the cleaning member 113, the impact force of the cleaning agent can drive the rotating member and the cleaning member 113 to rotate synchronously.

[0076] In some embodiments, the cleaning device 110 may further include a universal wheel 117 for rolling on the storage tank 200. The universal wheel 117 may be connected to the mounting frame 111 to space the cleaning member 113 from the storage tank 200. In this way, when the wall-climbing robot 160 drives the cleaning device 110 to move, the cleaning device 110 can contact the storage tank 200 through the universal wheel 117, which helps to avoid the situation where the cleaning member 113 contacts the storage tank 200 and causes damage to the storage tank 200 or the cleaning member 113. In addition, the universal wheel 117 also helps the cleaning device 110 to move more smoothly.

[0077] As an example, when the cleaning device 110 cleans the tank wall 210, the universal wheel 117 can roll on the tank wall 210.

[0078] In some embodiments, the cleaning device 110 may further include a protective member 119. The protective member 119 may be connected to the mounting bracket 111 and located between the mounting bracket 111 and the cleaning member 113. The protective member 119 is used to contact the wind-resistant ring 220 so as to space the cleaning member 113 from the wind-resistant ring 220, thereby helping to avoid the situation where the cleaning member 113 contacts the wind-resistant ring 220 and causes damage to the storage tank 200 or the cleaning member 113.

[0079] As an example, the protective member 119 may adopt a disc-shaped structure, which helps to avoid sharp corners on the protective member 119, thereby improving the situation where the protective member 119 or the storage tank 200 is damaged due to the contact between the protective member 119 and the storage tank 200.

[0080] Please refer to Figures 1 to 2 , in some embodiments, a plurality of cleaning devices 110 may include a first cleaning device 120. The first cleaning device 120 may be detachably connected to the wall-climbing robot 160 to facilitate the disassembly and replacement of the first cleaning device 120.

[0081] The first cleaning device 120 may be used to clean the outer side surface 2211 of the wind-resistant ring 220.

[0082] Specifically, the first cleaning device 120 may include a cleaning member 113. The bottom surface 1131 of the cleaning member 113 may be provided with liquid spraying holes 1133. The bottom surface 1131 is used to face the outer side surface 2211, and the liquid spraying holes 1133 are used to spray cleaning agent toward the outer side surface 2211, so as to clean and remove rust from the outer side surface 2211 of the wind-resistant ring 220.

[0083] As an example, when the cleaning robot 100 is working, the wall-climbing robot 160 may drive the cleaning device 110 to move on the tank wall 210. The bottom of the cleaning member 113 has a bottom surface 1131, and the liquid spraying holes 1133 may be provided on the bottom surface 1131. When the cleaning robot 100 is working, the bottom surface 1131 may face and be spaced from the outer side surface 2211, so that the liquid spraying holes 1133 can spray cleaning agent toward the outer side surface 2211.

[0084] In this embodiment, the first cleaning device 120 may be hinged to the wall-climbing robot 160. Specifically, the mounting bracket 111 of the first cleaning device 120 may be hinged to the wall-climbing robot 160, and the cleaning member 113 may be connected to the mounting bracket 111, which helps to improve the obstacle-crossing performance of the first cleaning device 120, improves the obstacle-crossing performance of the cleaning robot 100, and helps the wall-climbing robot 160 to drive the cleaning device 110 to move stably.

[0085] Please refer to Figures 3 to 4, in some embodiments, the plurality of cleaning devices 110 may include a second cleaning device 130, and the second cleaning device 130 may be detachably connected to the wall-climbing robot 160 to facilitate the disassembly and replacement of the second cleaning device 130.

[0086] The second cleaning device 130 can be used to clean the top surface 2213 of the wind-resistant ring 220.

[0087] The second cleaning device 130 may also include a cleaning member 113. A liquid spraying hole 1133 may be provided on the bottom surface 1131 of the cleaning member 113. The bottom surface 1131 is used to face the top surface 2213, and the liquid spraying hole 1133 is used to spray a cleaning agent toward the top surface 2213, so as to clean and remove rust from the top surface 2213 of the wind-resistant ring 220.

[0088] As an example, when the cleaning robot 100 is working, the wall-climbing robot 160 moves on the tank wall 210, while the cleaning device 110 can move on the top surface 2213, and the movement of the wall-climbing robot 160 drives the cleaning device 110 to move. When the cleaning robot 100 is working, the bottom surface 1131 of the cleaning member 113 can face and be spaced from the top surface 2213, so that the liquid spraying hole 1133 can spray the cleaning agent toward the outer side surface 2211.

[0089] In this embodiment, the second cleaning device 130 can be hinged to the wall-climbing robot 160. Specifically, the mounting frame 111 of the second cleaning device 130 can be hinged to the wall-climbing robot 160, and the cleaning member 113 can be connected to the mounting frame 111, which helps to improve the obstacle-crossing performance of the first cleaning device 120, improves the obstacle-crossing performance of the cleaning robot 100, and helps the wall-climbing robot 160 to drive the cleaning device 110 to move stably.

[0090] In some embodiments, the second cleaning device 130 may further include a mounting frame 111, and the mounting frame 111 may include a first mounting member 1111 and a second mounting member 1113.

[0091] Among them, the first mounting member 1111 can be connected to the wall-climbing robot 160, and the cleaning member 113 can be connected to the second mounting member 1113.

[0092] The second mounting member 1113 is slidably connected to the first mounting member 1111 along the direction from the tank wall 210 to the top surface 2213, so as to adjust the position of the cleaning member 113, such that the cleaning member 113 can face the top surface 2213, thereby facilitating the cleaning of the top surface 2213. In addition, the sliding connection between the first mounting member 1111 and the second mounting member 1113 can also have a shock-absorbing effect, which helps to improve the obstacle-crossing performance of the cleaning device 110, improves the obstacle-crossing performance of the cleaning robot 100, and helps the wall-climbing robot 160 to drive the cleaning device 110 to move stably.

[0093] It should be noted that in this embodiment, the universal wheel 117 can roll on the top surface 2213, or the universal wheel 117 may not contact the top surface. When the universal wheel 117 rolls on the top surface 2213, the sliding connection between the first mounting member 1111 and the second mounting member 1113 can achieve a shock-absorbing effect; when the universal wheel 117 does not contact the top surface 2213, the first mounting member 1111 and the second mounting member 1113 can adjust their relative positions through the sliding connection and then be fixed to avoid the cleaning member 113 contacting the top surface 2213 and causing damage to both.

[0094] As an example, the first mounting member 1111 may include a connected first mounting portion 1119 and a first sliding portion 1121, and the second mounting member 1113 may include a connected second mounting portion 1123 and a second sliding portion 1124. Among them, the first mounting portion 1119 may be fixedly connected to the wall-climbing robot 160, and the first sliding portion 1121 may cooperate with the second sliding portion 1124. One of the first sliding portion 1121 and the second sliding portion 1124 is a slider, and the other is provided with a chute for cooperating with the slider. The cleaning member 113 may be connected to the second mounting portion 1123. In some other embodiments, the first mounting portion 1119 may also be hinged to the wall-climbing robot 160.

[0095] The shapes of the first mounting member 1111 and the second mounting member 1113 can be designed according to requirements, and this application does not make any limitations. For example, both the first mounting member 1111 and the second mounting member 1113 can adopt a plate-like structure.

[0096] Please refer to Figures 5 to 6 , in some embodiments, the plurality of cleaning devices 110 may include a third cleaning device 140, and the wall-climbing robot 160 is used to drive the third cleaning device 140 to move on the second wall surface 213, which helps the wall-climbing robot 160 avoid the reinforcing rib 223.

[0097] The third cleaning device 140 may include a mounting bracket 111 and a cleaning member 113. The cleaning member 113 is telescopically connected to the mounting bracket 111. A liquid spraying hole 1133 may be provided on the bottom surface 1131 of the cleaning member 113. The bottom surface 1131 is used to face the first wall surface 211. The cleaning member 113 is used to extend between the reinforcing rib 223 and the main body 221 to spray a cleaning agent onto the first wall surface 211 through the liquid spraying hole 1133. In this way, when the wall-climbing robot 160 drives the cleaning device 110 to move, the cleaning member 113 can extend between the main body of the wind-resistant ring 220 and the reinforcing rib 223 to clean and remove rust from the first wall surface 211. When the cleaning member 113 approaches the reinforcing rib 223, the cleaning member 113 can retract to avoid the reinforcing rib 223. Thus, the wall-climbing robot 160 only needs to move on the second wall surface 213, which helps the wall-climbing robot 160 move more smoothly.

[0098] As an example, when the cleaning robot 100 is working, the wall-climbing robot 160 moves on the second wall surface 213, and the cleaning device 110 can also move on the second wall surface 213. The cleaning member 113 can be telescopic. The cleaning member 113 at least partially extends between the reinforcing rib 223 and the main body 221. The liquid spraying hole 1133 on the bottom surface 1131 of the cleaning member 113 can face and be spaced from the first wall surface 211, so that the liquid spraying hole 1133 can spray a cleaning agent onto the first wall surface 211. When the cleaning member 113 approaches the reinforcing rib 223, the cleaning member 113 can retract to avoid the reinforcing rib 223.

[0099] In this embodiment, the third cleaning device 140 can be hinged to the wall-climbing robot 160. Specifically, the mounting bracket 111 of the third cleaning device 140 can be hinged to the wall-climbing robot 160, and the cleaning member 113 can be connected to the mounting bracket 111, which helps to improve the obstacle-crossing performance of the third cleaning device 140, improves the obstacle-crossing performance of the cleaning robot 100, and helps the wall-climbing robot 160 drive the cleaning device 110 to move stably.

[0100] In some embodiments, the third cleaning device 140 may further include a driving member 114. The driving member 114 can be connected to the mounting bracket 111, and the cleaning member 113 can be connected to the driving end of the driving member 114. The driving member 114 is used to drive the cleaning member 113 to expand and contract. Thus, the expansion and contraction of the cleaning member 113 can be conveniently controlled through the driving member 114, so as to control the cleaning member 113 to extend between the main body and the reinforcing rib 223 to clean the first wall surface 211, and the cleaning member 113 can also be controlled to retract, which helps the cleaning member 113 avoid the reinforcing rib 223.

[0101] Among them, the driving member 114 can adopt a linear servo or other telescopic driving devices.

[0102] Please refer to Figures 7 to 8, in some embodiments, the plurality of cleaning devices 110 may further include a fourth cleaning device 150. The fourth cleaning device 150 includes a cleaning member 113. A liquid spraying hole 1133 may be provided on the bottom surface 1131 of the cleaning member 113. The bottom surface 1131 is used to face the tank wall 210. The liquid spraying hole 1133 is used to spray a cleaning agent toward the tank wall 210, so as to clean and remove rust from the tank wall 210.

[0103] As an example, when the cleaning robot 100 is working, the wall-climbing robot 160 can drive the cleaning device 110 to move on the tank wall 210. When the cleaning robot 100 is working, the bottom surface 1131 of the cleaning member 113 can face and be spaced from the tank wall 210, so that the liquid spraying hole 1133 can spray the cleaning agent toward the tank wall 210. Specifically, when the cleaning robot 100 is working, the wall-climbing robot 160 can drive the cleaning device 110 to move on the second wall surface 213. When the cleaning robot 100 is working, the bottom surface 1131 of the cleaning member 113 can face the second wall surface 213, so that the liquid spraying hole 1133 can spray the cleaning agent toward the second wall surface 213.

[0104] Please refer to Figure 7 , in some embodiments, the number of the liquid spraying holes 1133 may be multiple. The axes of the multiple liquid spraying holes 1133 may be parallel or non-parallel, and can be specifically designed according to requirements. The multiple liquid spraying holes 1133 may be evenly distributed or unevenly distributed on the bottom surface 1131, and can be specifically arranged according to requirements.

[0105] Among them, multiple may refer to two or more.

[0106] In the cleaning robot 100 provided by the embodiments of the present application, the cleaning robot 100 includes a wall-climbing robot 160 and a cleaning device 110. The wall-climbing robot 160 is used to drive the cleaning device 110 to move on the tank wall 210, so that the cleaning device 110 can clean the tank wall 210 and the wind girder 220 of the storage tank 200. The cleaning robot 100 may include a plurality of cleaning devices 110. The plurality of cleaning devices 110 are used to selectively and detachably connect to the wall-climbing robot 160. The plurality of cleaning devices 110 are used to clean the outer wall surfaces of the tank wall 210 and the wind girder 220. In this way, the cleaning robot 100 can replace different cleaning devices 110 to clean multiple positions of the storage tank 200. The cleaning robot 100 can not only clean the tank wall 210, but also clean the wind girder 220, which helps to more comprehensively clean the storage tank 200, expands the application range of the cleaning robot 100, improves the cleaning efficiency of the storage tank 200, improves the rust and damage conditions of the storage tank 200, and eliminates the need for workers to perform dangerous high-altitude operations.

[0107] The embodiments of the present utility model have been described in detail above in conjunction with the accompanying drawings. However, the present utility model is not limited to the above embodiments, and various changes can be made without departing from the gist of the present utility model within the scope of knowledge possessed by those of ordinary skill in the relevant art. In addition, the embodiments of the present utility model and the features in the embodiments can be combined with each other without conflict.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: wall-climbing robots; and A plurality of cleaning devices, wherein one of the plurality of cleaning devices is used to be detachably connected to the wall-climbing robot; Wherein, the wall-climbing robot is used to drive the cleaning device to move on the tank wall of the storage tank with the wind-resistant ring; and the plurality of cleaning devices are used to clean the tank wall and the outer wall surface of the wind-resistant ring respectively.

2. The cleaning robot according to claim 1, characterized in that: Along the vertical direction, the anti-wind ring includes an outer side surface facing upward; the multiple cleaning devices include a first cleaning device, the first cleaning device includes a cleaning piece, and the bottom surface of the cleaning piece is provided with a spray hole, the bottom surface is used to be opposite to the outer side surface, and the spray hole is used to spray the cleaning agent toward the outer side surface.

3. The cleaning robot according to claim 1, characterized in that: The wind-resistant ring also includes a top surface facing away from the tank wall; The plurality of cleaning devices include a second cleaning device, the second cleaning device includes a cleaning member, a bottom surface of the cleaning member is provided with a liquid spraying hole, the bottom surface is used to be opposite to the top surface, and the liquid spraying hole is used to spray cleaning agent toward the top surface.

4. The cleaning robot according to claim 3, characterized in that: The second cleaning device also includes a mounting frame, which includes a first mounting member and a second mounting member. The first mounting member is connected to the wall-climbing robot, and the cleaning member is connected to the second mounting member. The second mounting member is slidably connected to the first mounting member along the tank wall toward the top surface.

5. The cleaning robot according to claim 1, characterized in that: The storage tank comprises a plurality of wind-resistant rings arranged at intervals; the wind-resistant ring comprises a body and a plurality of reinforcing ribs, the body is wound around the tank wall, the plurality of reinforcing ribs are connected between the body and the tank wall and are distributed at intervals; along the vertical direction, the reinforcing ribs are connected below the body; between two adjacent wind-resistant rings, the tank wall comprises a first wall surface and a second wall surface distributed and connected along the vertical direction, the first wall surface is located between the reinforcing ribs and the body; The multiple cleaning devices include a third cleaning device, and the wall-climbing robot is used to drive the third cleaning device to move on the second wall surface; the third cleaning device includes a mounting frame and a cleaning component, and the cleaning component is telescopically connected to the mounting frame; a spray hole is provided on the bottom surface of the cleaning component, and the bottom surface is used to be opposite to the first wall surface, and the cleaning component is used to extend between the reinforcing rib and the main body to spray cleaning agent onto the first wall surface through the spray hole.

6. The cleaning robot according to claim 5, characterized in that: The third cleaning device further comprises a driving member, wherein the driving member is connected to the mounting frame, the cleaning member is connected to a driving end of the driving member, and the driving member is used to drive the cleaning member to extend and retract.

7. The cleaning robot according to claim 1, characterized in that: The plurality of cleaning devices include a fourth cleaning device, which includes a cleaning member, a bottom surface of which is provided with a liquid spraying hole, the bottom surface is used to be opposite to the tank wall, and the liquid spraying hole is used to spray cleaning agent toward the tank wall.

8. The cleaning robot according to claim 1, characterized in that: The cleaning device comprises a mounting frame and a cleaning component, wherein the mounting frame is hinged to the wall-climbing robot, and the cleaning component is connected to the mounting frame, and the cleaning component is used to clean different outer wall surfaces of the tank wall and the anti-wind ring.

9. The cleaning robot according to claim 8, characterized in that: The cleaning robot further comprises a fixing member and a hinge member; the wall-climbing robot comprises a connecting portion, the connecting portion is provided with a first fixing hole and a first connecting hole parallel to the axis direction; the mounting frame is provided with a second fixing hole and a second connecting hole parallel to the axis direction; The fixing member is inserted into the first fixing hole and the second fixing hole; The hinge is inserted into the first connecting hole and the second connecting hole, the second connecting hole is a waist-shaped hole, and the hinge is suitable for moving back and forth in the waist-shaped hole along the bottom to the top of the wall-climbing robot.

10. The cleaning robot according to claim 8, characterized in that: The cleaning member is rotatably connected to the mounting frame; And / or, the cleaning device further comprises a universal wheel for rolling on the storage tank, the universal wheel being connected to the mounting frame so as to space the cleaning member from the storage tank; And / or, the cleaning device further comprises a protective member, which is connected to the mounting frame and is located between the mounting frame and the cleaning member; the protective member is used to contact the anti-wind ring to separate the cleaning member and the anti-wind ring.

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