Crawler-type cleaning robot

Abstract

A crawler-type cleaning robot comprises a robot body, and flexible chain rings are arranged on the two sides of the robot body in the walking direction of the cleaning robot correspondingly. A walking driving mechanism is arranged on the machine body, the walking driving mechanism is in transmission connection with the flexible chain ring and used for driving the flexible chain ring to rotate, and the rotating direction of the flexible chain ring is consistent with the walking direction of the cleaning robot; a plurality of suction cups are installed on the flexible chain ring and arranged at intervals in the annular direction of the flexible chain ring, the suction ends of the suction cups face the outside of the flexible chain ring, and the driving ends of the suction cups are located in the flexible chain ring; a driving air channel and an air power mechanism are arranged on the machine body, the air power mechanism is connected with the driving air channel and used for providing driving airflow into the driving air channel, the driving airflow flows to the driving ends, making contact with the target plate face, of the suction cups on the flexible chain rings, and then negative pressure is generated at the adsorption ends of the corresponding suction cups so that the suction cups can be adsorbed to the target plate face. Therefore, the cleaning robot can walk on a non-horizontal smooth surface.

Description

Technical Field

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

[0002] Mainstream photovoltaic cleaning robots are divided into two types: rail-mounted robots and self-propelled robots. Compared to rail-mounted robots, self-propelled robots are more flexible and can be used on photovoltaic panels in almost all scenarios. However, a major problem with self-propelled cleaning robots is that they can slip on uneven photovoltaic panels, which can seriously affect the robot's cleaning efficiency.

[0003] Most of the self-propelled cleaning robots currently on the market use wheels and tracks to move. However, on non-horizontal photovoltaic panels, this design can easily cause the robot to slide sideways, thereby reducing cleaning efficiency and even affecting the robot's safety.

[0004] Therefore, a new design structure is needed to enable the cleaning robot to walk on non-horizontal smooth surfaces. Utility Model Content

[0005] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a crawler-type cleaning robot, so that the cleaning robot can walk on non-horizontal smooth surfaces.

[0006] The technical solutions adopted in this utility model are as follows:

[0007] A crawler-type cleaning robot comprises a body, wherein flexible chain links are respectively provided on both sides of the body along the walking direction of the cleaning robot;

[0008] The body is provided with a walking drive mechanism, which is transmission-connected to the flexible chain ring and is used to drive the flexible chain ring to rotate, and the rotation direction of the flexible chain ring is consistent with the walking direction of the cleaning robot;

[0009] A plurality of suction cups are installed on the flexible chain ring, and the plurality of suction cups are arranged at intervals along the annular direction of the flexible chain ring, the adsorption ends of the suction cups face the outside of the flexible chain ring, and the driving ends of the suction cups are located inside the ring of the flexible chain ring;

[0010] The body is provided with a driving air duct and an aerodynamic mechanism, which is connected to the driving air duct and is used to provide a driving airflow into the driving air duct. The driving airflow flows to the driving end of the suction cup in contact with the target board surface, thereby generating negative pressure at the adsorption end of the corresponding suction cup so that the suction cup is adsorbed on the target board surface.

[0011] As a further improvement of the above technical solution:

[0012] The structure of the travel drive mechanism is:

[0013] It includes a driving shaft and a driven shaft rotatably mounted on the machine body. The ends on the same side of the driving shaft and the driven shaft are transmission-connected to a single flexible chain ring, and the flexible chain ring is kept in an oblong shape. The machine body is provided with a motor transmission-connected to the driving shaft.

[0014] A single flexible chain ring includes two circular chains arranged in parallel and at intervals. A driving sprocket is provided at the end of the driving shaft, and a driven sprocket is provided at the end of the driven shaft. The driving sprocket and the driven sprocket are both transmission-connected to the flexible chain ring. The driving sprocket and the driven sprocket are both double sprockets. The two circular chains are connected by a plurality of spaced-apart connecting pieces, and the suction cup is installed on the connecting piece.

[0015] The structure of the suction cup includes the driving end, the adsorption end and a connecting part of the tubular structure, the driving end is a Laval nozzle, the air inlet of the Laval nozzle corresponds to the driving air channel, the adsorption end is disc-shaped, and the concave cavity of the adsorption end is connected to the inner cavity of the Laval nozzle through the connecting part.

[0016] The structure of the driving end is as follows: it includes a tubular body, and a contraction cavity and an expansion cavity are axially arranged inside the tubular body. The contraction cavity and the expansion cavity are connected and the inner wall surfaces are both conical. The large mouth end of the contraction cavity is the air inlet of the driving end, and the large mouth end of the expansion cavity is the air outlet of the driving end. The connecting part is connected to the expansion cavity.

[0017] The number of suction cups in contact with the target surface is greater than or equal to three.

[0018] The arrangement direction of the driving end of the suction cup in contact with the target board surface is consistent with the length direction of the driving airflow. The length of the driving airflow is L1, L1 is greater than the center distance between two adjacent suction cups, and the center distance between the first suction cup in contact with the target board surface and the last suction cup in contact with the target board surface is L2, and L1 is less than L2.

[0019] The driving air duct includes a plurality of straight-line nozzles installed side by side on the body. The airflows ejected from the plurality of straight-line nozzles are connected side by side to form the driving airflow. Each nozzle is connected to the air power mechanism.

[0020] The body is provided with a guide component, which includes an upper guide component located above the driving air channel and a lower guide component located below the driving air channel. The upper guide component and the lower guide component are in sliding cooperation with the driving end.

[0021] The upper guide member and the lower guide member are both plate-shaped, and a guide channel is formed between the upper guide member and the lower guide member to slide with the driving end.

[0022] The beneficial effects of the utility model are as follows:

[0023] The utility model has a compact and reasonable structure and is easy to operate. By arranging multiple suction cups in the annular direction of the crawler walking mechanism, the suction cups are in contact with the target plate surface, so that some suction cups can be adsorbed and detached from the target plate surface during walking, thereby enabling the cleaning robot to walk on non-horizontal smooth surfaces.

[0024] The utility model also has the following advantages:

[0025] The state of the suction cup in contact with the target plate surface is switched by the relative position relationship between the driving end of the Laval nozzle structure and the driving air channel, thereby simplifying the pipeline structure and realizing continuous walking of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural diagram of the present utility model.

[0027] Figure 2 This is a schematic structural diagram of the utility model (from another perspective).

[0028] Figure 3 This is an exploded view of the present invention.

[0029] Figure 4 It is a side view of the present utility model.

[0030] Figure 5 This is a schematic diagram of the driving airflow length of the present invention.

[0031] Figure 6 It is a partial cross-sectional view of the present utility model.

[0032] Figure 7 It is a structural schematic diagram of the suction cup of the utility model.

[0033] Figure 8 This is a schematic diagram of the body and related structures of the utility model.

[0034] Figure 9 This is a schematic diagram of the body and related structures of the utility model (from another perspective).

[0035] Figure 10 This is a schematic diagram of the installation structure of the flexible chain link and suction cup of the utility model.

[0036] in:

[0037] 1. Clean parts;

[0038] 2. Suction cup; 21. Driving end; 211. Contraction cavity; 212. Expansion cavity; 213. Tubular body; 22. Connecting portion; 23. Suction end;

[0039] 3. Flexible chain link; 31. Connector; 4. Driving airway; 41. Nozzle;

[0040] 5. Body; 51. Guide member; 511. Upper guide member; 512. Lower guide member;

[0041] 6. Aerodynamic mechanism;

[0042] 7. Driving mechanism; 71. Driving shaft; 711. Driving sprocket; 72. Driven shaft; 721. Driven sprocket; 73. Motor. DETAILED DESCRIPTION

[0043] The specific implementation of the present utility model will be described below with reference to the accompanying drawings.

[0044] Based on the problems mentioned in the background technology, this embodiment provides a solution to the problem of self-propelled cleaning robots skidding on non-horizontal photovoltaic panels, so as to improve the cleaning efficiency and stability of the robot, thereby meeting the needs of actual cleaning operations. Of course, the cleaning robot is also suitable for walking on other non-horizontal smooth surfaces such as glass (i.e., the target panel surface below).

[0045] like Figures 1-6 As shown, the crawler-type cleaning robot of this embodiment includes a body 5, and flexible chain rings 3 are respectively provided on both sides of the body 5 along the walking direction of the cleaning robot;

[0046] The body 5 is provided with a travel drive mechanism 7, which is in transmission connection with the flexible chain ring 3 and is used to drive the flexible chain ring 3 to rotate. The rotation direction of the flexible chain ring 3 is consistent with the travel direction of the cleaning robot.

[0047] A plurality of suction cups 2 are mounted on the flexible link 3. The plurality of suction cups 2 are spaced apart along the annular direction of the flexible link 3. The adsorption ends 23 of the suction cups 2 face the outside of the flexible link 3, and the driving ends 21 of the suction cups 2 are located inside the flexible link 3.

[0048] A driving air duct 4 and an aerodynamic mechanism 6 are provided on the body 5. The aerodynamic mechanism 6 is connected to the driving air duct 4 and is used to provide a driving airflow into the driving air duct 4. The driving airflow flows to the driving end 21 of the suction cup 2 on the flexible chain link 3 that is in contact with the target board surface, and then generates negative pressure at the adsorption end 23 of the corresponding suction cup 2 to make the suction cup 2 adsorbed on the target board surface.

[0049] Specifically, the driving air duct 4 is located on both sides of the body 5, on the same side as the flexible chain link 3, and corresponds to the annular internal position of the flexible chain link 3, and is used to act on the driving end 21 of the suction cup 2 from the annular internal part of the flexible chain link 3. The aerodynamic mechanism 6 can be an air compressor for delivering high-speed airflow to the driving air duct 4; the flexible chain link 3 and the walking drive mechanism 7 form a crawler-type walking mechanism, in which the flexible chain link 3 can adopt a crawler, but the local structure of the crawler needs to be specially designed when installing the suction cup 2; the suction cup 2 on the flexible chain link 3 rotates with the rotation of the flexible chain link 3 when the cleaning robot walks, and the part of the suction cup 2 in contact with the target board surface is adsorbed on the target board surface under the action of the driving airflow, to prevent the cleaning robot from slipping sideways.

[0050] A plurality of suction cups 2 are arranged in the circular direction of the crawler walking mechanism so that the suction cups 2 are in contact with the target plate surface, so that some suction cups 2 can be adsorbed and detached from the target plate surface during walking, thereby enabling the cleaning robot to walk on non-horizontal smooth surfaces.

[0051] Further, if Figure 2-Figure 4 As shown, the structure of the driving mechanism 7 is: it includes a driving shaft 71 and a driven shaft 72 rotatably mounted on the body 5, the same side ends of the driving shaft 71 and the driven shaft 72 are transmission-connected to a single flexible link 3, and the flexible link 3 is kept in an oblong shape, and a motor 73 is provided on the body 5 which is transmission-connected to the driving shaft 71.

[0052] Specifically, the motor 73 is connected to the drive shaft 71 by means of gears; the cross-section of the driving airflow is a straight line, and the middle part of the lower part of the oblong flexible chain link 3 is a straight line, thereby ensuring that the multiple suction cups 2 installed at the corresponding positions are arranged in a straight line, consistent with the straight line direction of the driving airflow, and the corresponding driving ends 21 are located at the same height position, ensuring the correspondence between the driving end 21 and the driving airflow, and the driving airflow is a continuous high-speed flowing air curtain.

[0053] like Figure 10 As shown, a single flexible chain ring 3 includes two parallel and spaced ring chains, a driving sprocket 711 is provided at the end of the driving shaft 71, and a driven sprocket 721 is provided at the end of the driven shaft 72. The driving sprocket 711 and the driven sprocket 721 are both transmission-connected to the flexible chain ring 3. The driving sprocket 711 and the driven sprocket 721 are both double sprockets. The two ring chains are connected by a plurality of spaced-apart connecting members 31, and a suction cup 2 is installed on the connecting member 31.

[0054] Two ring chains are used as the flexible chain ring 3 to facilitate the installation of the suction cup 2, so that the driving end 21 and the adsorption end 23 at both ends of the suction cup 2 are respectively located inside and outside the flexible chain ring 3.

[0055] Further, if Figure 3-Figure 7As shown, the structure of the suction cup 2 includes a driving end 21, a suction end 23, and a tubular connecting portion 22. The driving end 21 is a Laval nozzle, the air inlet of which corresponds to the driving air channel 4. The suction end 23 is disc-shaped, and the concave cavity of the suction end 23 communicates with the inner cavity of the Laval nozzle through the connecting portion 22. Specifically, the connecting portion 22 is detachably fixedly connected to the connecting member 31.

[0056] The structure of the driving end 21 is as follows: it includes a tubular body 213, and a contraction cavity 211 and an expansion cavity 212 are axially arranged inside the tubular body 213. The contraction cavity 211 and the expansion cavity 212 are connected and the inner wall surfaces are both conical. The large mouth end of the contraction cavity 211 is the air inlet of the driving end 21, and the large mouth end of the expansion cavity 212 is the air outlet of the driving end 21. The connecting part 22 is connected to the expansion cavity 212.

[0057] When the driving end 21 is located outside the driving air channel 4, the driving air flow enters from the air inlet of the Laval nozzle. Figure 7 As shown, when air flows from port B to port A, the air flow velocity will increase sharply. According to the inverse proportional relationship between fluid pressure and flow velocity, the pressure in the adsorption chamber of port C will drop below atmospheric pressure, forming a certain vacuum degree, and the suction cup 2 will be adsorbed on the target panel.

[0058] Further, if Figure 1-Figure 4 As shown, the number of suction cups 2 in contact with the target surface is greater than or equal to three.

[0059] When the robot is running, at least four suction cups 2 will generate adsorption force and adhere to the target panel, which is sufficient to resist the downward force of the robot on the inclined panel, so that the robot will not slip sideways during cleaning, thereby improving the stability and efficiency of the cleaning robot.

[0060] The driving ends 21 of the suction cups 2 in contact with the target surface are arranged in the same direction as the length of the driving airflow. The length of the driving airflow is L1, which is greater than the center-to-center distance between two adjacent suction cups 2. The center-to-center distance between the first suction cup 2 in contact with the target surface and the last suction cup 2 in contact with the target surface is L2, which is less than L2. This ensures that a sufficient number of suction cups 2 are attached to the target surface, and that at least one of the suction cups 2 at the beginning and end of the suction cups 2 in contact with the target surface is not attached to the target surface during movement, allowing the flexible chain link 3 to rotate cyclically.

[0061] The state of the suction cup 2 in contact with the target surface is switched by the relative position relationship between the driving end 21 of the Laval nozzle structure and the driving air channel 4, thereby simplifying the pipeline structure and control method and realizing continuous walking of the cleaning robot.

[0062] Further, if Figure 8-Figure 9As shown, the driving air duct 4 includes a plurality of straight-line nozzles 41 installed side by side on the body 5 . The airflow ejected from the plurality of straight-line nozzles 41 is connected side by side to form a driving airflow. Each nozzle 41 is connected to the aerodynamic mechanism 6 .

[0063] like Figure 4 As shown, the single-sided driving air passage 4 has four air openings, namely four nozzles 41 , and each nozzle 41 is connected to the air compressor through a pipeline.

[0064] like Figure 6 As shown, the outlet of the driving air channel 4 contacts the end surface of the air inlet of the driving end 21 , and the height of the outlet of the driving air channel 4 is consistent with the size of the air inlet of the driving end 21 .

[0065] Further, if Figure 6-Figure 9 As shown, a guide component 51 is provided on the body 5, and the guide component 51 includes an upper guide member 511 located above the driving air channel 4 and a lower guide member 512 located below the driving air channel 4. The upper guide member 511 and the lower guide member 512 are slidably matched with the driving end 21.

[0066] The upper guide member 511 and the lower guide member 512 are both plate-shaped, and a guide channel that is slidably engaged with the driving end 21 is formed between the upper guide member 511 and the lower guide member 512 .

[0067] The working process of the cleaning robot of this embodiment is as follows:

[0068] The air power mechanism 6 is activated, and the air channel 4 blows out a driving airflow toward both sides of the body 5. The driving airflow acts on the part of the suction cup 2 that is in contact with the target board surface, and the part of the suction cup 2 is adsorbed on the target board surface;

[0069] Start the motor 73, the flexible chain link 3 rotates, and drives the body 5 to move forward relative to the suction cup 2 adsorbed on the target plate surface, and the cleaning component 1 installed on the body 5 starts to work;

[0070] During the movement of the body 5, the driving air channel 4 changes its position relative to the suction cup 2 adsorbed on the target panel, so that the suction cup 2 behind the moving direction falls off the target panel, and the suction cup 2 in front of the moving direction in contact with the target panel is adsorbed on the target panel, realizing the continuous rolling of the flexible chain link 3 and driving the body 5 to continue to move forward.

[0071] The above description is an explanation of the utility model, not a limitation of the utility model. The scope of the utility model is defined by the claims. Any form of modification can be made within the scope of protection of the utility model.

Claims

1. A crawler cleaning robot, characterized in that: It comprises a body (5), wherein flexible chain links (3) are respectively provided on both sides of the body (5) along the walking direction of the cleaning robot; The body (5) is provided with a travel drive mechanism (7), which is in transmission connection with the flexible chain ring (3) and is used to drive the flexible chain ring (3) to rotate, and the rotation direction of the flexible chain ring (3) is consistent with the travel direction of the cleaning robot; A plurality of suction cups (2) are mounted on the flexible chain ring (3), and the plurality of suction cups (2) are spaced apart along the annular direction of the flexible chain ring (3), the adsorption ends (23) of the suction cups (2) face the outside of the flexible chain ring (3), and the driving ends (21) of the suction cups (2) are located inside the flexible chain ring (3); The body (5) is provided with a driving air channel (4) and an air power mechanism (6). The air power mechanism (6) is connected to the driving air channel (4) and is used to provide a driving air flow into the driving air channel (4). The driving air flow flows to the driving end (21) of the suction cup (2) in contact with the target board surface, thereby generating a negative pressure at the adsorption end (23) of the corresponding suction cup (2) so that the suction cup (2) is adsorbed on the target board surface.

2. The crawler cleaning robot according to claim 1, wherein: The structure of the travel drive mechanism (7) is: The machine body (5) comprises a driving shaft (71) and a driven shaft (72) rotatably mounted on the machine body (5), wherein the ends on the same side of the driving shaft (71) and the driven shaft (72) are transmission-connected to a single flexible chain link (3) and the flexible chain link (3) is kept in an oblong shape, and a motor (73) is provided on the machine body (5) and is transmission-connected to the driving shaft (71).

3. The crawler-type cleaning robot according to claim 2, characterized in that: A single flexible chain ring (3) comprises two annular chains arranged in parallel and at intervals, a driving sprocket (711) is provided at the end of the driving shaft (71), and a driven sprocket (721) is provided at the end of the driven shaft (72), the driving sprocket (711) and the driven sprocket (721) are both transmission-connected to the flexible chain ring (3), the driving sprocket (711) and the driven sprocket (721) are both double sprockets, and the two annular chains are connected by a plurality of spaced connecting members (31), and the suction cup (2) is mounted on the connecting member (31).

4. The crawler-type cleaning robot according to claim 1, wherein: The structure of the suction cup (2) includes the driving end (21), the adsorption end (23) and a connecting portion (22) of a tubular structure, wherein the driving end (21) is a Laval nozzle, and the air inlet of the Laval nozzle corresponds to the driving air channel (4), and the adsorption end (23) is disc-shaped, and the concave cavity of the adsorption end (23) is connected to the inner cavity of the Laval nozzle through the connecting portion (22).

5. The crawler-type cleaning robot according to claim 4, characterized in that: The driving end (21) has a structure comprising a tubular body (213), wherein a contraction cavity (211) and an expansion cavity (212) are provided inside the tubular body (213) along the axial direction, wherein the contraction cavity (211) and the expansion cavity (212) are connected and the inner wall surfaces are both conical, wherein the large end of the contraction cavity (211) is the air inlet of the driving end (21), and the large end of the expansion cavity (212) is the air outlet of the driving end (21), and the connecting portion (22) is in communication with the expansion cavity (212).

6. The crawler-type cleaning robot according to claim 1, characterized in that: The number of suction cups (2) in contact with the target plate surface is greater than or equal to three.

7. The crawler-type cleaning robot according to claim 1, wherein: The arrangement direction of the driving end (21) of the suction cup (2) in contact with the target plate surface is consistent with the length direction of the driving airflow, the length of the driving airflow is L1, L1 is greater than the center distance between two adjacent suction cups (2), and the center distance between the first suction cup (2) in contact with the target plate surface and the last suction cup (2) in contact with the target plate surface is L2, and L1 is less than L2.

8. The crawler-type cleaning robot according to claim 1, wherein: The driving air duct (4) includes a plurality of straight-line nozzles (41) mounted side by side on the body (5), and the airflow ejected from the plurality of straight-line nozzles (41) is connected side by side to form the driving airflow, and each nozzle (41) is connected to the aerodynamic mechanism (6).

9. The crawler-type cleaning robot according to claim 1, wherein: A guide component (51) is provided on the body (5), and the guide component (51) includes an upper guide member (511) located above the driving air duct (4) and a lower guide member (512) located below the driving air duct (4), and the upper guide member (511) and the lower guide member (512) are in sliding engagement with the driving end (21).

10. The crawler-type cleaning robot according to claim 9, characterized in that: The upper guide member (511) and the lower guide member (512) are both plate-shaped, and a guide channel that is slidably engaged with the driving end (21) is formed between the upper guide member (511) and the lower guide member (512).

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