Point-beating wall-climbing robot

Abstract

The utility model relates to the technical field of cleaning, in particular to a point-beating wall-climbing robot which comprises a machine frame, a cleaning disc arranged below the machine frame, a cleaning cutter disc arranged in the cleaning disc and walking wheels located on the two sides of the machine frame, a connecting box is arranged on the machine frame, a vertical first groove is formed in one side of the connecting box, and a second groove is formed in the other side of the connecting box. A swing arm is arranged outside the connecting box, a transverse second groove is formed in the end, close to the connecting box, of the swing arm, a shaft sleeve is arranged in the connecting box, a pin is arranged on one side of the shaft sleeve and penetrates through the first groove of the connecting box and the second groove of the swing arm in a matched mode, and the other end of the swing arm is connected with a rotary disc in a matched mode through a groove key. The swing arm drives the shaft sleeve to move up and down through the pin; a plurality of bearings are arranged in the shaft sleeve in a close fit mode, hollow rotating shafts are arranged in the bearings, and the shaft sleeve and the hollow rotating shafts penetrate through the rack to be connected with the cleaning cutter head. The cleaning machine has the advantages that the friction area and friction force between the cleaning machine and a working surface are increased.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning, in particular to a point-tapping wall-climbing robot. Background Art

[0002] As the manufacturing industry modernizes and advances in technology, the demand for industrial cleaning robots continues to rise. Compared to household sweeping robots, these robots offer a larger cleaning area and higher cleaning efficiency. However, current industrial cleaning robots often suffer from several issues, such as their large size making it difficult to access confined spaces, and their limited cleaning angles, which prevent them from fully cleaning irregular surfaces. Therefore, there is an urgent need for a new type of industrial cleaning robot with a compact structure, a sturdy frame, and the ability to dynamically adjust to irregular surfaces. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a wall-climbing robot to make the structure of an industrial cleaning machine more compact and adaptable to working surfaces with varying heights.

[0004] In order to achieve the above-mentioned purpose, a point-tapping wall-climbing robot is designed, including a frame, a cleaning disc arranged under the frame, a cleaning cutter disc arranged in the cleaning disc and walking wheels located on both sides of the frame, the frame is provided with a connecting box, a vertical first groove is opened on one side of the connecting box, a swing arm is provided on the outside of the connecting box, a horizontal second groove is opened on the end of the swing arm close to the connecting box, a shaft sleeve is provided in the connecting box, a pin is provided on one side of the shaft sleeve, the pin fits through the first groove of the connecting box and the second groove of the swing arm, the other end of the swing arm is connected to the turntable through a slot key, the turntable drives the swing arm to rotate, and the swing arm drives the shaft sleeve to move up and down through the pin; a number of bearings are tightly fitted in the shaft sleeve, a hollow rotating shaft is provided in the bearing, and the shaft sleeve and the hollow rotating shaft pass through the frame to connect the cleaning cutter disc.

[0005] Preferably, the robot provided by the present invention also includes other technical features, wherein a chassis is arranged under the frame, a through hole of the same size as the cleaning tray is opened at the front of the chassis, and the cleaning tray is arranged in the through hole and is connected to the chassis.

[0006] Preferably, the robot provided by the present invention also includes other technical features, wherein a connecting plate is further provided on the bottom surface of the rear portion of the chassis, and a transverse steering wheel is provided at the bottom of the connecting plate.

[0007] Preferably, the robot provided by the present invention also includes other technical features, wherein a cleaning drive device is provided at the top end of the sleeve, and the cleaning drive device is fixedly connected to the rotating shaft and drives the rotating shaft to rotate.

[0008] Preferably, the robot provided by the present invention also includes other technical features, wherein a turntable driving device is provided on the top of the frame, and the turntable driving device is used to drive the turntable to rotate.

[0009] Compared with the prior art, the utility model has the following advantages:

[0010] By setting the connecting box, pins and turntable, the movable cleaning disc can achieve up and down displacement in the vertical direction, so as to adapt to the ups and downs of the working surface, increase the friction area and friction between the cleaning machine and the working surface, and make the cleaning operation more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 , is a top perspective view of the present utility model;

[0012] Figure 2 , is a bottom-up stereogram of the present invention;

[0013] Figure 3 , is a rear view of the utility model;

[0014] Figure 4 , is a bottom view of the utility model;

[0015] Figure 5 , is a top view of the utility model;

[0016] Figure 6 , is a rear perspective view of the electric device of the present invention;

[0017] Figure 7 ,yes Figure 3 AA section view;

[0018] Figure 8 , is a partial perspective view of the utility model;

[0019] Figure 9 , is a partial perspective view of the present invention with the connection box and the swing arm hidden;

[0020] Figure 10 , is a partial perspective view of the utility model with the shaft sleeve hidden;

[0021] In the figure: 1, frame, 2, cleaning disc, 3, cleaning cutter disc, 4, walking wheel, 5, connecting box, 6, first groove, 7, swing arm, 8, second groove, 9, bushing, 10, pin, 11, slot key, 12, turntable, 13, bearing, 14, rotating shaft, 15, chassis, 16, connecting plate, 17, steering wheel, 18, negative pressure tube, 19, connecting ear, 20, connecting rod, 21, spring, 22, upper step, 23, lower step, 24, electrical component, 25, turntable drive device, 26, cleaning drive device, 27, bristles. DETAILED DESCRIPTION

[0022] In order to make the purpose, principle and structure of the present invention more clear, it is further described below with reference to the accompanying drawings and specific embodiments.

[0023] See also Figure 1 The utility model provides a point-penetrating wall-climbing robot, comprising: a frame 1, a cleaning disc 2 and a cleaning cutter disc 3.

[0024] Example 1:

[0025] See also Figures 1 to 10 .

[0026] The two sides of the frame 1 are movably connected to a group of walking wheels 4. The bottom of the frame 1 is fixedly connected to a chassis 15.

[0027] The front of the chassis 15 is provided with a through hole of the same size as the cleaning disc 2, and the cleaning disc 2 is movably arranged in the through hole. The cleaning disc 2 has a stepped structure, wherein the upper step 22 extends through the through hole to the top of the chassis 15, and the lower step 23 is located below the chassis 15 and has a diameter slightly larger than the through hole on the chassis 2. A number of springs 21 are connected between the surface of the lower step 23 and the bottom surface of the chassis 15. The surface of the lower step 23 is also provided with a number of vertical connecting rods 20, and the chassis 15 above the connecting rods 20 is provided with a number of corresponding connecting ears 19, and the connecting rods 20 are movably fitted through the middle holes of the connecting ears 19. The cleaning disc 2 is a hollow structure, wherein a cleaning blade disc 3 is provided in the hollow cavity. Bristles 27 are provided on the bottom circumference of the cleaning disc 2.

[0028] A hollow, cylindrical sleeve 9 is vertically inserted through the center of the cleaning disc 2. A cleaning drive 26 is mounted on the top of the sleeve 9. Several bearings 13 are arranged vertically within the sleeve 9. A rotating shaft 14 extends through the center hole of each bearing 13. The top end of the rotating shaft 14 is connected to the cleaning drive 26, and the bottom end is connected to the cleaning disc 3.

[0029] The cleaning tray 2 is further provided with a connecting box 5, which is arranged outside the sleeve 9 and covers the sleeve 9. A first vertical groove 6 is opened on both sides of the connecting box 5, and the position of the first groove 6 is the projection of the sleeve 9 on the side plate of the connecting box 5.

[0030] A turntable drive 25 is located at the rear of the frame 1. A turntable 12 is mounted at its front end, connected via gears or belts to achieve force transmission. A swing arm 7 is located on the side of the turntable 12. The rear end of the swing arm 7 engages with the turntable 12 via a key 11. A second groove 8 is defined in the front end of the swing arm 7, partially overlapping the first groove 6. A pair of pins 10 are located on either side of the shaft sleeve 9, extending through the first and second grooves 6, 8, respectively. The diameter of the pins is smaller than the width of the first and second grooves 6, 8.

[0031] The turntable drive 25 rotates the turntable 12, which, in turn, drives the swing arm 7 up and down via the key 11. The pin 10 slides within the first groove 6 as the swing arm 7 swings up and down. When the swing arm 7 is horizontal, the pin 10 is located within the first groove 6 at the end closest to the turntable drive 25. As the swing arm 7 swings, the pin 10 moves along the first groove 6 away from the turntable drive 25.

[0032] The cleaning disc 2 is also provided with a plurality of through holes, through which a plurality of negative pressure pipes 18 draw out debris in the cavity of the cleaning disc 2 to prevent the accumulation of debris in the cavity from affecting the rotation of the cleaning disc 3 .

[0033] A connecting plate 19 is also provided on the rear bottom surface of the chassis 15. The connecting plate 19 is a vertical plate structure fixed to the chassis 15. A steering wheel 17 is provided at the lower end of the connecting plate 19. The steering wheel 17 can be a universal wheel, or it can be controlled and driven by a number of electrical components 24 provided on the rear top surface of the chassis 15 and above the steering wheel 17.

[0034] It is worth mentioning that:

[0035] The arrangement of the connecting rod 20 and the connecting ear 19 allows both lateral limitation and vertical freedom of movement between the cleaning tray 2 and the base 15. The arrangement of the spring 21 damps the vertical movement between the cleaning tray 2 and the base 15, preventing collision between the two. The spring 21 also applies the weight of the entire device to the cleaning tray 2 in the form of elastic pressure, thereby increasing the pressure between the cleaning tray 2 and the work surface, thereby increasing friction and improving the cleaning effect.

[0036] The rotating shaft 14 can rotate freely within the sleeve 9 under the action of the bearing 13. When the cleaning disc 3 is subjected to an external impact force, the impact force is transmitted to the rotating shaft 14 and can be absorbed by the bearing 13 on the side, thereby preventing stress fracture of the rotating shaft 14. The cleaning drive device 26 can drive the rotating shaft 14 and the cleaning disc 3 to rotate.

[0037] The principle is this: Because the cleaning tray 2 and the base 15 are laterally limited, the sleeve 9 on the cleaning tray 2 can only move vertically, and the pin 10 on the sleeve 9 can also only move vertically. When the swing arm 7 is raised, the lower wall of the first groove 6 generates an oblique upward lifting force on the pin 10. This oblique force can be decomposed into a vertical normal force and a transverse tangential force. The normal force lifts the pin 10 upward, generating vertical movement. In the transverse direction, the pin 10 is subjected to the lateral friction force of the first groove 6, the tangential force of the swing arm 7, and the limiting reaction force of the sleeve 9. Since the limiting reaction force of the sleeve 9 is fixedly connected, it will increase with the increase of the tangential force, and its range is close to infinity. Therefore, when the tangential force begins to be generated, the reaction force will also increase. When the combined force of the tangential force and the reaction force is greater than the static friction force, the pin 10 breaks through the static friction force and begins to displace. The direction of displacement is the direction of the reaction force, that is, the direction away from the turntable drive device 25. Similarly, when the swing arm 7 is pressed down, the pin 10 can also displace within the first groove 6. The first groove 6 ensures that the curved motion of the swing arm 7 will not be limited when it is transmitted to the pin 10. The curved motion of the swing arm 7 also drives the cleaning disc 2 up and down.

[0038] The up and down movement of the cleaning disc 2 enables the machine to adjust the height of the cleaning parts in response to the uneven working surface, thereby improving the cleaning efficiency and optimizing the cleaning effect.

[0039] The second groove 8 allows the pin 10 of the shaft sleeve 9 fixedly connected to the cleaning disc 2 to move slightly in the vertical direction within the second groove 8 without being restricted when the shaft sleeve 9 moves up and down with the cleaning disc 2 .

[0040] The movement of the device of this embodiment can be achieved by controlling the speed, steering, speed difference, etc. of the walking wheels 4 on both sides. The steering wheel 17 is used for auxiliary movement to eliminate the unexpected vibration of the frame 1 caused by the friction between the cleaning disc 3 and the ground, making the movement of the device of this embodiment more stable.

[0041] The electrical device 24 can control any driving device or steering wheel 17 in the device of the present invention.

[0042] The above description is only a specific implementation method of this utility model, but the protection scope of this utility model is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by this utility model, can make equivalent substitutions or changes based on the technical solutions and new concepts of this utility model, which should be covered by the protection scope of this utility model.

Claims

1. A point-penetrating wall-climbing robot, comprising a frame, a cleaning tray disposed below the frame, a cleaning cutter disc disposed in the cleaning tray, and running wheels located on both sides of the frame, characterized in that: The frame is provided with a connection box, a vertical first groove is provided on one side of the connection box, a swing arm is provided on the outside of the connection box, a horizontal second groove is provided on one end of the swing arm close to the connection box, a shaft sleeve is provided in the connection box, a pin is provided on one side of the shaft sleeve, the pin fits through the first groove of the connection box and the second groove of the swing arm, the other end of the swing arm is connected to the turntable through a slot key, the turntable drives the swing arm to rotate, and the swing arm drives the shaft sleeve to move up and down through the pin; A plurality of bearings are tightly arranged in the shaft sleeve, a hollow rotating shaft is arranged in the bearing, and the shaft sleeve and the hollow rotating shaft pass through the frame to connect the cleaning cutter disc.

2. A tapping wall-climbing robot as claimed in claim 1, characterized in that: A chassis is provided below the frame, a through hole having the same size as the cleaning tray is provided at the front of the chassis, and the cleaning tray is arranged in the through hole and is matched with the chassis.

3. A tapping wall-climbing robot as claimed in claim 2, characterized in that: A connecting plate is also provided on the bottom surface of the rear portion of the chassis, and a transverse steering wheel is provided on the bottom of the connecting plate.

4. The tapping wall-climbing robot according to claim 1, characterized in that: A cleaning drive device is provided at the top end of the sleeve. The cleaning drive device is fixedly connected to the rotating shaft and drives the rotating shaft to rotate.

5. The tapping wall-climbing robot according to claim 1, characterized in that: A turntable driving device is provided on the top of the frame, and the turntable driving device is used to drive the turntable to rotate.

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