Cleaning robot

Abstract

The utility model provides a cleaning robot which comprises a first cleaning device, a second cleaning device and a walking device, the walking device comprises a frame module and a roller assembly, and the first cleaning device and the second cleaning device are installed on the two opposite sides of the frame module correspondingly. The roller assembly is installed on the side, away from the first cleaning device, of the frame module, at least one of the first cleaning device, the second cleaning device and the frame module is provided with a camera device, the first cleaning device comprises a first water pipe and a rotating assembly, the rotating assembly is connected with the frame module, and one end of the first water pipe is connected with the rotating assembly. The rotating assembly is used for driving the first water pipe to rotate in the plane, the second cleaning device comprises a second water pipe and a supporting assembly, one side of the supporting assembly is connected with the frame module, and the other side of the supporting assembly is connected with the second water pipe. And by arranging the camera device, the cleaning position of the to-be-cleaned object can be accurately positioned, and the cleaning robot is higher in cleaning efficiency and more convenient to use.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning equipment, and more specifically, relates to a cleaning robot. Background Art

[0002] In the railway transportation industry, railway tank cars are mainly used as carriers to transport different goods such as air, liquid, and powder. Among them, horizontal cylindrical railway tank cars are often used to transport oil goods. After a long period of storage and transportation of oil materials, the inner wall of the railway tank car will accumulate oil sludge and oil pollution, which can easily cause explosions and environmental pollution. When changing other materials or requiring inspection and maintenance, in order to ensure the product quality of the materials, the inner wall of the tank car needs to be cleaned in time. Since manual cleaning of railway tank cars is labor-intensive, cleaning robots can be used to replace manual cleaning of railway tank cars.

[0003] The existing cleaning robot includes a spray gun and a walking device. The spray gun can spray cleaning liquid, and the walking device can move in a straight line inside the railway tank car. The spray gun is installed at the front end of the walking device through a steering device. The steering device is used to drive the spray gun to rotate in a plane. Since the spraying direction of the spray gun is perpendicular to the moving direction of the walking device, the walking device needs to frequently perform steering or U-turn operations to enable the spray gun to clean various parts of the railway tank car. In addition, the cleaning robot cannot observe the internal environment of the railway tank car, and it is difficult to accurately locate the position to be cleaned in the railway tank car. Therefore, there are problems of low cleaning efficiency and inconvenience in use. Utility Model Content

[0004] One of the purposes of the embodiments of the present application is to provide a cleaning robot to solve the technical problems in the prior art where the walking device of the cleaning robot needs to frequently turn or reverse so that the spray gun can clean various parts of the railway tank car, and the cleaning robot cannot observe the internal environment of the railway tank car, resulting in low cleaning efficiency and inconvenient use of the cleaning robot.

[0005] To solve the above technical problems, in the first aspect, an embodiment of the present application provides a cleaning robot, the cleaning robot comprising a first cleaning device, a second cleaning device and a walking device, the walking device comprising a frame module and a roller assembly, the first cleaning device and the second cleaning device being respectively installed on opposite sides of the frame module, the roller assembly being installed on the side of the frame module away from the first cleaning device, and at least one of the first cleaning device, the second cleaning device and the frame module being installed with a camera device; the first cleaning device comprising a first water pipe and a rotating assembly, the rotating assembly being connected to the frame module, one end of the first water pipe being connected to the rotating assembly, and the other end of the first water pipe being provided with a plurality of first nozzles along the circumference of the first water pipe, and the rotating assembly being used to drive the first water pipe to rotate in a plane; the second cleaning device comprising a second water pipe and a support assembly, one side of the support assembly being connected to the frame module, and the other side of the support assembly being connected to the second water pipe, and a plurality of second nozzles being provided on the outer circumference of the second water pipe.

[0006] The beneficial effects of the cleaning robot provided by the present application are: by setting a first cleaning device, a second cleaning device and a walking device to cooperate with each other, the walking device can enable the cleaning robot to move, and the first cleaning device and the second cleaning device are both used to perform cleaning work. Compared with the cleaning robots in the prior art, at least one of the first cleaning device, the second cleaning device and the frame module of the present application is installed with a camera device, which can facilitate the operator to observe the working environment of the cleaning robot to accurately locate the cleaning position of the object to be cleaned, and the cleaning robot is more convenient to use; the first water pipe is provided with a plurality of first nozzles along the circumferential ring, and the first water pipe is driven by the rotating component to rotate in the plane, so that the cleaning range of the first cleaning device can cover all directions; the first cleaning device and the second cleaning device are respectively installed on opposite sides of the frame module, and the outer periphery of the second water pipe is provided with a plurality of second nozzles. When the first cleaning device is cleaning a part of the object to be cleaned, the second cleaning device can be used to clean another part of the object to be cleaned, thereby improving the cleaning efficiency of the cleaning robot.

[0007] In a feasible technical solution, the rotating assembly includes a driving device, a base and a top cover, the driving device is installed on the frame module, the base and the top cover are detachably connected, a socket for inserting the first water pipe is formed between the opposite surfaces of the base and the top cover, the driving device has an output end on the side facing away from the frame module, and the base is connected to the output end of the driving device on the side facing away from the top cover.

[0008] In a feasible technical solution, the length of the first water pipe is not less than the maximum distance between the driving device and the edge of the frame module.

[0009] In a feasible technical solution, the first cleaning device further includes a nozzle, one end of which is connected to the first water pipe, and the other end of which is equipped with a plurality of the first nozzles.

[0010] In a feasible technical solution, the support assembly includes a first support member and two second support members, the first support member is installed on the frame module, one end of the two second support members is respectively connected to the two ends of the first support member, the other ends of the two second support members are respectively connected to the two ends of the second water pipe, one of the two second support members is provided with a water inlet hole, and the interior of the second water pipe is connected to the water inlet hole.

[0011] In a feasible technical solution, the first support member is vertically connected to the second support member, and the second water pipe is arranged parallel to the frame module.

[0012] In a feasible technical solution, the camera device is installed on a side of the first support member facing away from the second water pipe.

[0013] In a feasible technical solution, a plurality of the second nozzles are evenly spaced along the length direction of the second water pipe.

[0014] In a feasible technical solution, the walking device further includes a plurality of hooks, and the plurality of hooks are installed on a side of the frame module away from the roller assembly.

[0015] In a feasible technical solution, the vertical distance between the first water pipe and the frame module is not less than the vertical height of the hook. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A schematic diagram of the structure of the cleaning robot provided in an embodiment of the present application;

[0018] Figure 2 This is a side view of the cleaning robot in an embodiment of the present application;

[0019] Figure 3 This is a disassembled diagram of the cleaning robot in the embodiment of the present application;

[0020] Figure 4This is a disassembled diagram of the rotating component in the embodiment of the present application.

[0021] Among them, the reference numerals in the figures are:

[0022] 10. First cleaning device; 11. First water pipe; 12. Rotating assembly; 121. Driving device; 122. Base; 123. Top cover; 13. First nozzle; 14. Spray head; 101. Socket; 102. Output terminal;

[0023] 20. Second cleaning device; 21. Second water pipe; 22. Support assembly; 221. First support member; 222. Second support member; 23. Second nozzle; 201. Water inlet;

[0024] 30. Traveling device; 31. Frame module; 32. Roller assembly; 33. Hook;

[0025] 40. Camera device. DETAILED DESCRIPTION

[0026] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0027] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0028] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0030] The following is a detailed description with reference to the accompanying drawings and embodiments:

[0031] Please also refer to Figures 1 to 3 , the embodiment of the present application provides a cleaning robot, the cleaning robot includes a first cleaning device 10, a second cleaning device 20 and a walking device 30, the walking device 30 includes a frame module 31 and a roller assembly 32, the first cleaning device 10 and the second cleaning device 20 are respectively installed on opposite sides of the frame module 31, the roller assembly 32 is installed on the side of the frame module 31 away from the first cleaning device 10, at least one of the first cleaning device 10, the second cleaning device 20 and the frame module 31 is installed with a camera device 40, the first cleaning device 10 includes a second cleaning device 20 and a walking device 30, the walking device 30 includes a frame module 31 and a roller assembly 32, the first cleaning device 10 and the second cleaning device 20 are respectively installed on opposite sides of the frame module 31, the roller assembly 32 is installed on the side of the frame module 31 away from the first cleaning device 10, A water pipe 11 and a rotating component 12, the rotating component 12 is connected to the frame module 31, one end of the first water pipe 11 is connected to the rotating component 12, and the other end of the first water pipe 11 is provided with a plurality of first nozzles 13 along the circumference of the first water pipe 11, and the rotating component 12 is used to drive the first water pipe 11 to rotate in a plane. The second cleaning device 20 includes a second water pipe 21 and a support component 22, one side of the support component 22 is connected to the frame module 31, and the other side of the support component 22 is connected to the second water pipe 21, and a plurality of second nozzles 23 are provided on the outer periphery of the second water pipe 21.

[0032] By arranging the first cleaning device 10, the second cleaning device 20 and the walking device 30 to cooperate with each other, the walking device 30 can enable the cleaning robot to move, and the first cleaning device 10 and the second cleaning device 20 are both used to perform cleaning work; at least one of the first cleaning device 10, the second cleaning device 20 and the frame module 31 is equipped with a camera device 40, which can facilitate the operator to observe the working environment of the cleaning robot and accurately locate the cleaning position of the object to be cleaned, making the cleaning robot more convenient to use; the first water pipe 11 is provided with a plurality of first nozzles 13 along the circumference, and the first water pipe 11 is driven by the rotating component 12 to rotate within a plane, so that the cleaning range of the first cleaning device 10 can cover all directions; the first cleaning device 10 and the second cleaning device 20 are respectively installed on opposite sides of the frame module 31, and the outer circumference of the second water pipe 21 is provided with a plurality of second nozzles 23. When the first cleaning device 10 is cleaning a part of the object to be cleaned, the second cleaning device 20 can be cleaning another part of the object to be cleaned, thereby improving the cleaning efficiency of the cleaning robot.

[0033] In application, the cleaning robot has a built-in control component. The operator uses a remote control to wirelessly remotely control the cleaning robot to execute various commands. The operator does not need to enter the working environment, which can eliminate safety hazards and has a high degree of automation.

[0034] In application, vertical refers to the standing direction of the cleaning robot, the roller assembly 32 is installed on the lower side of the frame module 31 along the vertical direction, the first cleaning device 10 is installed on the upper side of the frame module 31 along the vertical direction, and the second cleaning device 20 is installed on the circumferential side of the frame module 31 perpendicular to the vertical direction.

[0035] Specifically, in one embodiment of the present application, a camera device 40 is installed on the periphery of the first water pipe 11 , so that the camera device 40 can change its viewing angle as the first water pipe 11 turns.

[0036] Specifically, in another example of the present application, a camera device 40 is installed on the periphery of the second water pipe 21, or a camera device 40 is installed on the peripheral side of the frame module 31 perpendicular to the vertical direction, so that the camera device 40 can change the observation angle as the walking device 30 moves.

[0037] It is understandable that in other examples of the present application, camera devices 40 are installed on the outer periphery of the first water pipe 11, the outer periphery of the second water pipe 21 and the outer periphery of the frame module 31 perpendicular to the vertical direction, so that the operator can have more perspectives to observe the working environment and accurately locate the position to be cleaned, thereby making the cleaning efficiency of the cleaning robot higher and the cleaning effect better.

[0038] In one embodiment, please refer to Figures 1 to 4 The rotating assembly 12 includes a driving device 121, a base 122 and a top cover 123. The driving device 121 is installed on the frame module 31. The base 122 and the top cover 123 are detachably connected. A socket 101 is formed between the opposite surfaces of the base 122 and the top cover 123 for inserting the first water pipe 11. The side of the driving device 121 facing away from the frame module 31 has an output end 102, and the side of the base 122 facing away from the top cover 123 is connected to the output end 102 of the driving device 121.

[0039] In application, the driving device 121 can be a motor or a cylinder. The side of the driving device 121 facing away from the output end 102 is bonded or threadedly connected to the frame module 31. The output end 102 of the driving device 121 can rotate. The side of the base 122 facing away from the top cover 123 has a slot for the output end 102 of the driving device 121 to be inserted. The base 122 and the top cover 123 are snap-connected or threadedly connected. The first water pipe 11 and the rotating component 12 are easy to assemble, and the production efficiency is high.

[0040] In use, cleaning liquid is introduced from the first water pipe 11 inserted into one side of the insertion hole 101 . After the liquid flows through the first water pipe 11 , it is sprayed out from each first nozzle 13 , so that the first cleaning device 10 performs a cleaning operation.

[0041] In one embodiment, please refer to Figures 1 to 3, the length of the first water pipe 11 is not less than the maximum distance between the rotating assembly 12 and the edge of the frame module 31 .

[0042] During use, the first nozzle 13 can be prevented from spraying liquid onto the frame module 31 , ensuring that the first cleaning device 10 performs cleaning work without being disturbed.

[0043] In one embodiment, please refer to Figures 1 to 3 The first cleaning device 10 further includes a nozzle 14 , one end of which is connected to the first water pipe 11 , and the other end of which is provided with a plurality of first nozzles 13 .

[0044] During application, the nozzle 14 is snap-connected or threadedly connected to the first water pipe 11 to make the assembly between the first water pipe 11 and the nozzle 14 more efficient. The spraying direction of each first nozzle 13 is perpendicular to the length direction of the first water pipe 11 to facilitate the operator to adjust the cleaning angle of the first cleaning device 10.

[0045] Specifically, in one example of the present application, the number of the first nozzles 13 is eight, and every four first nozzles 13 are placed on the same plane. It can be understood that in other examples of the present application, the number of the first nozzles 13 can be other, and each first nozzle 13 can also be placed in other ways.

[0046] In one embodiment, please refer to Figures 1 to 3 The support assembly 22 includes a first support member 221 and two second support members 222. The first support member 221 is installed on the frame module 31. One end of the two second support members 222 is respectively connected to the two ends of the first support member 221, and the other ends of the two second support members 222 are respectively connected to the two ends of the second water pipe 21. One of the two second support members 222 is provided with a water inlet hole 201, and the interior of the second water pipe 21 is connected to the water inlet hole 201.

[0047] In use, cleaning liquid is introduced into the water inlet 201 of the second support member 222 . When the liquid flows through the second water pipe 21 , the liquid is sprayed out from each second nozzle 23 , so that the second cleaning device 20 performs a cleaning operation.

[0048] In one embodiment, please refer to Figures 1 to 3 The first support member 221 is vertically connected to the second support member 222 , and the second water pipe 21 is arranged parallel to the frame module 31 .

[0049] In application, the first support member 221 and the second support member 222 can be rod-shaped structures. The first support member 221, the two second support members 222 and the second water pipe 21 are frame-shaped as a whole to reduce the overall weight of the support assembly 22, making the walking device 30 more powerful.

[0050] In one embodiment, please refer to Figures 1 to 3 A camera device 40 is installed on the side of the first support member 221 facing away from the second water pipe 21.

[0051] In application, the camera device 40 is a panoramic camera. The camera device 40 is bonded or threaded to the first support member 221, which can reduce the shaking of the camera device 40 when the walking device 30 moves, ensure the installation stability of the camera device 40, and provide better shooting effects.

[0052] In one embodiment, please refer to Figures 1 to 3 , multiple second nozzles 23 are evenly spaced along the length direction of the second water pipe 21.

[0053] In application, the efficiency and uniformity of the liquid sprayed by the second cleaning device 20 can be improved, so that the cleaning effect of the second cleaning device 20 is better.

[0054] In one embodiment, please refer to Figures 1 to 3 The walking device 30 further includes a plurality of hooks 33 , which are mounted on a side of the frame module 31 away from the roller assembly 32 .

[0055] In use, the hook 33 is connected to a lifting device so that the lifting device can lift the cleaning robot to various working environments.

[0056] Specifically, the hoisting device may be a crane, which is connected to the hook 33 via a rope, so that the cleaning robot can be hoisted into the interior of the railway tank car.

[0057] In application, the railway tank car has a tank mouth. When a cleaning robot is used to clean the interior of the railway tank car, the hook 33 is connected through a lifting device to lift the cleaning robot from the tank mouth to the interior of the railway tank car. Steam is first introduced from the tank mouth into the interior of the railway tank car for steam treatment, and the cleaning robot is remotely controlled to clean the interior of the tank body; then the interior of the railway tank car is dried by a hot air pipe, and the cleaning robot is remotely controlled to film the scene inside the tank body; finally, the hook 33 is connected through the lifting device to lift the cleaning robot from the tank mouth to the interior of the railway tank car.

[0058] In application, when the cleaning robot cleans the interior of the railway tank car, the walking device 30 drives the cleaning robot to move back and forth between the leftmost and rightmost sides of the railway tank car. The first cleaning device 10 is started to clean the side wall of the railway tank car, and the cleaning path is independently planned according to demand to achieve full coverage. The second cleaning device 20 is started to clean the bottom of the railway tank car, and the waste water and waste residue can be flushed into the oil collection tank of the railway tank car for recovery. The water pressure sprayed by the first nozzle 13 and the second nozzle 23 can be 20MPa.

[0059] Specifically, in one example of the present application, after the first cleaning device 10 completes cleaning the side walls of the railway tank car, the second cleaning device 20 is started to clean the bottom of the railway tank car. It can be understood that in other examples of the present application, while the first cleaning device 10 cleans the side walls of the railway tank car, the second cleaning device 20 is started to clean the bottom of the railway tank car.

[0060] In one embodiment, please refer to Figures 1 to 3 , the vertical distance between the first water pipe 11 and the frame module 31 is not less than the vertical height of the hook 33.

[0061] In use, the first water pipe 11 can be prevented from colliding with the hook 33 during the rotation process, ensuring that the first cleaning device 10 performs the cleaning work without interference.

[0062] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A cleaning robot, characterized in that: The invention comprises a first cleaning device (10), a second cleaning device (20) and a running device (30), wherein the running device (30) comprises a frame module (31) and a roller assembly (32), wherein the first cleaning device (10) and the second cleaning device (20) are respectively installed on opposite sides of the frame module (31), and the roller assembly (32) is installed on a side of the frame module (31) away from the first cleaning device (10), and at least one of the first cleaning device (10), the second cleaning device (20) and the frame module (31) is installed with a camera device (40); The first cleaning device (10) comprises a first water pipe (11) and a rotating assembly (12), wherein the rotating assembly (12) is connected to the frame module (31), one end of the first water pipe (11) is connected to the rotating assembly (12), and the other end of the first water pipe (11) is provided with a plurality of first nozzles (13) along the circumference of the first water pipe (11), and the rotating assembly (12) is used to drive the first water pipe (11) to rotate in a plane; The second cleaning device (20) comprises a second water pipe (21) and a support assembly (22), one side of the support assembly (22) is connected to the frame module (31), and the other side of the support assembly (22) is connected to the second water pipe (21), and a plurality of second nozzles (23) are provided on the outer periphery of the second water pipe (21).

2. The cleaning robot according to claim 1, wherein: The rotating assembly (12) comprises a driving device (121), a base (122) and a top cover (123); the driving device (121) is mounted on the frame module (31); the base (122) and the top cover (123) are detachably connected; a socket (101) is formed between the opposing surfaces of the base (122) and the top cover (123) for inserting the first water pipe (11); the driving device (121) has an output end (102) on a side facing away from the frame module (31); and the base (122) is connected to the output end (102) of the driving device (121) on a side facing away from the top cover (123).

3. The cleaning robot according to claim 2, wherein: The length of the first water pipe (11) is not less than the maximum distance between the driving device (121) and the edge of the frame module (31).

4. The cleaning robot according to claim 1, wherein: The first cleaning device (10) further comprises a nozzle (14), one end of which is connected to the first water pipe (11), and the other end of which is provided with a plurality of the first nozzles (13).

5. The cleaning robot according to claim 1, wherein: The support assembly (22) comprises a first support member (221) and two second support members (222), wherein the first support member (221) is mounted on the vehicle frame module (31), one end of the two second support members (222) are respectively connected to the two ends of the first support member (221), and the other ends of the two second support members (222) are respectively connected to the two ends of the second water pipe (21), and one of the two second support members (222) is provided with a water inlet hole (201), and the interior of the second water pipe (21) is connected to the water inlet hole (201).

6. The cleaning robot according to claim 5, characterized in that: The first support member (221) is vertically connected to the second support member (222), and the second water pipe (21) is arranged parallel to the frame module (31).

7. The cleaning robot according to claim 5, characterized in that: The camera device (40) is installed on the side of the first support member (221) facing away from the second water pipe (21).

8. The cleaning robot according to claim 1, wherein: A plurality of the second nozzles (23) are evenly spaced along the length direction of the second water pipe (21).

9. The cleaning robot according to claim 1, wherein: The walking device (30) further comprises a plurality of hooks (33), wherein the plurality of hooks (33) are mounted on a side of the frame module (31) facing away from the roller assembly (32).

10. The cleaning robot according to claim 9, characterized in that: The vertical distance between the first water pipe (11) and the frame module (31) is not less than the vertical height of the hook (33).

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