Moving module of cleaning robot

Abstract

The utility model discloses a moving module of a cleaning robot, which comprises a moving module body, a main moving wheel and an auxiliary moving wheel which are matched with a guide rail on a bridge are arranged on the moving module body, the main moving wheel is driven by a driving device to rotate, and the auxiliary moving wheel is driven by a driving device to rotate. The two sides of the moving module body are each provided with a plurality of side edge wheel assemblies, and the side edge wheel assemblies are arranged on the outer sides of the guide rails. The cleaning robot has the advantages that the structure is simple and reasonable, the main moving wheels and the auxiliary moving wheels are arranged, the moving modules can move on the guide rails on the bridge frame, the side wheel assemblies are arranged on the outer sides of the guide rails, limiting is conducted from the outer sides of the guide rails through the side wheel assemblies, swinging during moving of the cleaning robot is avoided, the moving modules can be prevented from being disengaged from the guide rails, and the cleaning robot is convenient to use. And the movement is more stable and reliable.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robot manufacturing, in particular to a cleaning robot for cleaning tunnel bridge accessories, specifically a moving module of a cleaning robot. Background Art

[0002] During tunnel construction, cable trays are often used to lay cables, and the cable trays are formed by connecting a series of tray members end to end. Existing tunnel cable trays are also equipped with accessories such as lighting fixtures and cameras. To ensure the normal operation of these accessories, they need to be cleaned regularly, but the regular cleaning of these accessories has become a major problem. Previously, the regular cleaning of these accessories was mostly completed manually. When performing cleaning operations, it was necessary to close half of the road, which not only affected traffic but also posed a significant safety hazard to the operators.

[0003] With the continuous development of robot technology, the current cleaning work can be completed by an orbital cruise cleaning robot. For example, the cleaning device disclosed in the patent application with the application number CN201320740226.6 and the name "Orbital Full-automatic Tunnel Lamp Cleaning Device" installs a longitudinal track in the tunnel. The longitudinal track is close to the inner wall of the tunnel lining and is parallel to the tunnel axis. A walking device is installed on the longitudinal track, and the walking device can move along the longitudinal track. The longitudinal track is an I-beam. The walking device is composed of a motor, a motor base, a driving wheel, and a follower wheel. A follower wheel is installed at one end of the top of the motor base, and a motor is installed at the other end. The driving wheel is sleeved on the output shaft of the motor. The axis of the driving wheel and the axis of the follower wheel are on the same straight line, and the driving wheel and the follower wheel are respectively located in two track grooves formed by the longitudinal track. It realizes movement through the cooperation of the driving wheel, the follower wheel and the track groove of the I-beam. However, since the weight of the entire robot needs to be transmitted to the track through the moving wheels, high requirements are imposed on the structural strength of the moving wheels. In addition, once the two sides of the moving wheels are unevenly stressed, it is easy to get stuck and unable to move. Therefore, its moving structure needs to be further improved. Summary of the Utility Model

[0004] The purpose of the utility model is to make up for the above deficiencies and disclose to the society a moving module of a cleaning robot with a simple and reasonable structure, stable and reliable movement.

[0005] The technical solution of the utility model is realized as follows:

[0006] A moving module of a cleaning robot, comprising a moving module body, on which a main moving wheel and a secondary moving wheel are arranged to cooperate with the guide rail on the bridge. The main moving wheel is driven to rotate by a driving device. On both sides of the moving module body, several groups of side wheel assemblies are respectively arranged, and the side wheel assemblies are arranged outside the guide rail.

[0007] Measures to further optimize this technical solution are:

[0008] As an improvement, the side wheel assembly includes a side wheel bracket, an assembly shaft and a side wheel. The opening of the side wheel bracket faces inwards. The assembly shaft is vertically arranged on the side wheel bracket, and the side wheel is sleeved on the assembly shaft.

[0009] As an improvement, the side wheel has a cylindrical structure. A retaining wheel is coaxially arranged below the side wheel, and the diameter of the retaining wheel is larger than that of the side wheel. The retaining wheel can prevent the side wheel assembly from disengaging from the guide rail.

[0010] As an improvement, the upper part of the retaining wheel has a conical surface structure, which can play a certain protective role for the guide rail on the bridge.

[0011] As an improvement, a driving gear is arranged on the output shaft of the driving device, and a driven gear is arranged on the wheel shaft of the main moving wheel. The driving gear is in meshing transmission with the driven gear. Using gear transmission to output power has a simple structure and reliable transmission.

[0012] As an improvement, a hook for quick connection of the cleaning module is arranged on the side wall of the moving module body. The hook cooperates with the hook groove on the cleaning module, and can realize the quick disassembly and assembly between the cleaning module and the moving module.

[0013] As an improvement, an electrical connector is arranged on the side wall of the moving module body between the hooks.

[0014] As an improvement, a water storage tank for supplying water to the cleaning module is arranged on the moving module body.

[0015] As an improvement, handles are respectively arranged at both ends of the moving module body. The arrangement of the handles facilitates the handling of the whole moving module.

[0016] The advantages of the present utility model compared with the prior art are:

[0017] The mobile module of a cleaning robot of the present utility model has a simple and reasonable structure. Through the arrangement of the main moving wheels and auxiliary moving wheels, the mobile module can move on the guide rail on the bridge, and a side wheel assembly is arranged outside the guide rail. The side wheel assembly is used to limit the position from the outside of the guide rail, avoiding the sway of the cleaning robot during movement and also preventing the mobile module from disengaging from the guide rail, making the movement more stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is the three-dimensional structure diagram of the present utility model;

[0019] Figure 2 is the three-dimensional structure diagram of another perspective of the present utility model;

[0020] Figure 3 is Figure 2 the enlarged view of part A in

[0021] Figure 4 is the assembly schematic diagram of the mobile module and the cleaning module of the present utility model;

[0022] Figure 5 is Figure 4 the enlarged view of part B in

[0023] Figure 6 is the structural schematic diagram of the cooperation between the mobile module and the bridge of the present utility model;

[0024] Figure 7 is Figure 6 the enlarged view of part C in

[0025] The names of the reference numerals in the drawings of the present utility model are as follows:

[0026] Mobile module body 1, hook 11, electrical connector 12, water storage tank 13, handle 14, bridge 2, guide rail 21, main moving wheel 3, wheel shaft 31, driven gear 31a, auxiliary moving wheel 4, driving device 5, driving gear 51, side wheel assembly 6, side wheel bracket 61, assembly shaft 62, side wheel 63, enlarged diameter section 63a, cleaning module 7, hook groove 7a. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The present utility model will be further described in detail below with reference to the drawings:

[0028] The following description is used to disclose the present utility model so that those skilled in the art can implement the present utility model. The preferred embodiments described below are only examples, and other obvious variations can be thought of by those skilled in the art. The basic principles defined in the following description can be used in other implementation schemes, variation schemes, improvement schemes, equivalent schemes, and other technical schemes that do not depart from the spirit and scope of the present utility model.

[0029] Those skilled in the art should understand that in the disclosure of the present utility model, the orientations or positions indicated by the terms "longitudinal", "lateral", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or position relationships shown in the drawings. It is only for the convenience of describing the present utility model in a simplified manner, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present utility model.

[0030] It can be understood that the term "one" should be understood as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of the element can be multiple. The term "one" should not be construed as a limitation on the quantity.

[0031] As Figures 1 to 7 shown, a moving module of a cleaning robot includes a moving module body 1. A main moving wheel 3 and a secondary moving wheel 4 that cooperate with a guide rail 21 on a bridge 2 are arranged on the moving module body 1. The main moving wheel 3 is driven to rotate by a driving device 5. A plurality of groups of side wheel assemblies 6 are respectively arranged on both sides of the moving module body 1, and the side wheel assemblies 6 are arranged outside the guide rail 21.

[0032] The guide rail 21 of the bridge 2 has a square structure. The main moving wheel 3 and the secondary moving wheel 4 are in rolling contact with the upper surface of the guide rail 21, and the side wheels 63 of the side wheel assemblies 6 are in rolling contact with the side surface of the guide rail 21.

[0033] The above driving device 5 is preferably a motor. Here, the main moving wheel 3 is driven by the motor to rotate to provide the power for the cleaning robot to move on the bridge 2, while the secondary moving wheel 4 has no power output and only rotates as the cleaning robot moves.

[0034] The side wheel assembly 6 includes a side wheel bracket 61, an assembly shaft 62, and a side wheel 63. The opening of the side wheel bracket 61 faces inward. The assembly shaft 62 is vertically arranged on the side wheel bracket 61, and the side wheel 63 is sleeved on the assembly shaft 62. The main body of the side wheel bracket 61 has a "C" - shaped structure.

[0035] The side wheel 63 has a cylindrical structure. An anti - detachment wheel 64 is coaxially arranged below the side wheel 63, and the diameter of the anti - detachment wheel 64 is larger than that of the side wheel 63. The anti - detachment wheel 64 can play an anti - detachment role to prevent the side wheel assembly 6 from detaching from the guide rail 21 of the bridge 2.

[0036] When the mobile module body 1 is tilted, the side wheel assembly 6 plays a limiting role. At this time, the anti - detachment wheel 64 will come into contact with the guide rail 21. The upper part of the anti - detachment wheel 64 is designed as a conical surface structure, which can play a certain protective role for the guide rail 21.

[0037] A driving gear 51 is arranged on the output shaft of the driving device 5, and a driven gear 31a is arranged on the wheel shaft 31 of the main moving wheel 3. The driving gear 51 is in meshing transmission with the driven gear 31a. The gear transmission is adopted, with a simple structure and reliable transmission.

[0038] A hook 11 for quick connection of the cleaning module 7 is arranged on the side wall of the mobile module body 1.

[0039] An electrical connector 12 is arranged between the hooks 11 on the side wall of the mobile module body 1.

[0040] The mobile module 1 of the cleaning robot and the cleaning module 7 adopt a quick - disassembly and assembly structure. When the cleaning robot is installed, the mobile module 1 and the cleaning module 7 are separated, which can reduce the weight during handling. First, the mobile module 1 is installed on the bridge 2, and then the cleaning module 7 is hung on the mobile module 1 through the cooperation of the hook groove 7a on the cleaning module 7 and the hook 11 to form a pre - fixation. Then, the respective pipelines and signal lines are connected to fix the cleaning module and the mobile module 1 together. Here, the electrical connector 12 is arranged between the two hooks 11, making the connection of the pipelines and signal lines more convenient.

[0041] A water storage tank 13 for supplying water to the cleaning module 7 is arranged on the mobile module body 1.

[0042] Handles 14 are respectively arranged at both ends of the mobile module body 1. The arrangement of the handles 14 can facilitate the overall handling of the mobile module.

[0043] The mobile module of the present utility model has a simple and reasonable structure. Through the arrangement of the main moving wheel 3 and the auxiliary moving wheel 4, the mobile module can move on the guide rail 21 of the bridge 2, and a side wheel assembly 6 is arranged outside the guide rail 21 to limit from the outside of the guide rail 21, avoiding the sway of the cleaning robot during movement and also preventing the mobile module from detaching from the guide rail 21, making the movement more stable and reliable.

[0044] The above are only the preferred embodiments of the present utility model, and do not limit the implementation manners and protection scope of the present utility model accordingly. For those skilled in the art, it should be realized that all the equivalent replacements and obvious changes made by using the description and illustrations of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A mobile module of a cleaning robot, comprising a mobile module body (1), characterized in that: The mobile module body (1) is provided with a main moving wheel (3) and a secondary moving wheel (4) which cooperate with the guide rail (21) on the bridge frame (2); the main moving wheel (3) is driven to rotate by a driving device (5); and a plurality of groups of side wheel assemblies (6) are respectively provided on both sides of the mobile module body (1); and the side wheel assemblies (6) are arranged on the outer side of the guide rail (21).

2. The mobile module of a cleaning robot according to claim 1, characterized in that: The side wheel assembly (6) comprises a side wheel bracket (61), an assembly shaft (62) and a side wheel (63); the opening of the side wheel bracket (61) is arranged inwardly; the assembly shaft (62) is vertically arranged on the side wheel bracket (61); and the side wheel (63) is inserted into the assembly shaft (62).

3. The mobile module of a cleaning robot according to claim 2, characterized in that: The side wheel (63) is of cylindrical structure, and an anti-slip wheel (64) is coaxially arranged below the side wheel (63), and the diameter of the anti-slip wheel (64) is larger than the diameter of the side wheel (63).

4. The mobile module of a cleaning robot according to claim 3, characterized in that: The upper part of the anti-slip wheel (64) is a conical structure.

5. The mobile module of a cleaning robot according to claim 1, characterized in that: A driving gear (51) is arranged on the output shaft of the driving device (5), a driven gear (31a) is arranged on the wheel shaft (31) of the main moving wheel (3), and the driving gear (51) is meshed with the driven gear (31a) for transmission.

6. A mobile module of a cleaning robot according to any one of claims 1 to 5, characterized in that: A hook (11) for quick connection of the cleaning module (7) is arranged on the side wall of the mobile module body (1).

7. The mobile module of a cleaning robot according to claim 6, characterized in that: An electrical connector (12) is provided between the hooks (11) on the side wall of the mobile module body (1).

8. The mobile module of a cleaning robot according to claim 7, characterized in that: The mobile module body (1) is provided with a water storage tank (13) for supplying water to the cleaning module (7).

9. The mobile module of a cleaning robot according to claim 8, characterized in that: Handles (14) are respectively provided at both ends of the mobile module body (1).

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