Flat-bottom wall-climbing robot

Abstract

The utility model relates to the technical field of robots, in particular to a flat-bottom wall-climbing robot which comprises a machine frame and further comprises a rotating cutter head arranged on the front portion of the machine frame, a rotating blade is arranged in the rotating cutter head, and the rotating blade is arranged on the rotating cutter head. The front guide wheel is arranged in the middle of the front end of the rotary cutter head; the two walking wheels are arranged in the middle of the rack and located on the rear side of the rotary cutter head, and the distance between the two walking wheels is smaller than the width of the working face of the rotary blade; and the rear guide wheel is arranged at the rear part of the rack. Compared with the prior art, the rotary cutter head has the advantages that the arc-shaped connecting rod is connected with the rack through the spring, so that the height of the rotary cutter head for cutter cleaning can be adaptively and dynamically adjusted according to terrains under the action of the guide wheel and the spring, the structure of the industrial cleaning robot is more compact, and the service life of the industrial cleaning robot is prolonged. And the cleaning device can adapt to various terrains, so that the cleaning area and effect are better.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a flat-bottom wall-climbing robot. Background Art

[0002] With the modernization and advancement of manufacturing, the demand for industrial-grade cleaning robots is increasing. Compared to conventional sweeping robots, industrial cleaning robots have a larger cleaning disc working area and higher cleaning efficiency per unit time. However, existing industrial cleaning robots generally suffer from problems such as being too large to fit into confined work areas, and having a limited cleaning angle that prevents them from fully cleaning irregular surfaces. Therefore, there is an urgent need to design a flat-surface and wall-climbing robot with a compact structure, a sturdy frame, and a cleaning disc that can dynamically adjust to irregular surfaces. Utility Model Content

[0003] The purpose of the present utility model is to overcome the deficiencies of the prior art and provide a flat-bottom wall-climbing robot to make the cleaning robot structure more compact so as to adapt to operations in narrow working scenes, and to enable the cutter disc to be dynamically adjusted to irregular planes, making the cleaning operation more precise.

[0004] In order to achieve the above-mentioned purpose, a flat-bottom wall-climbing robot is designed, which includes a frame and: a rotating cutter disc arranged at the front of the frame, wherein a rotating blade is provided in the rotating cutter disc; a front guide wheel arranged at the middle of the front end of the rotating cutter disc; two running wheels arranged in the middle of the frame and located behind the rotating cutter disc, wherein the distance between the two running wheels is less than the width of the working surface of the rotating blade; and a rear guide wheel arranged at the rear of the frame.

[0005] Preferably, the robot designed in the present invention also includes other technical features, wherein the rotating cutter disc is a cavity structure with an opening at the bottom, the rotating blade drive device is connected to the rotating shaft, and the rotating shaft passes through the top of the rotating cutter disc and is connected to the rotating blade located in the cavity.

[0006] Preferably, the robot designed in the present invention also includes other technical features, wherein a circle of brushes is provided around the bottom of the rotating cutter disc.

[0007] Preferably, the robot designed in the present invention also includes other technical features, wherein the rotating cutter disc is in a stepped structure, the front end of the rotating cutter disc is connected to the front guide wheel through two arc-shaped connecting rods, the rear part of the arc-shaped connecting rod is connected to the top of the step on the rotating cutter disc, and a spring is provided at the top of the arc-shaped connecting rod, one end of the spring is connected to the arc-shaped connecting rod, and the other end of the spring is connected to the frame.

[0008] Preferably, the robot designed in the present invention also includes other technical features, wherein a vertically arranged connecting plate is provided in the middle of the frame, the connecting plate divides the frame into a front frame and a rear frame, a driving device is provided in the rear frame, and walking wheels are provided on both sides of the driving device. The rear side of the connecting plate is connected to the driving device, and the front side of the connecting plate is connected to the rear side of the rotating cutter disc through a connecting piece. A number of cylinders are also provided on the connecting plate, and the other end of the cylinder is hinged to the front side of the step surface on the rotating cutter disc.

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

[0010] Through the spring connection between the arc-shaped connecting rod and the frame, the knife cleaning rotary cutter disc can adaptively and dynamically adjust the height of the rotary cutter disc according to the terrain under the action of the guide wheel and the spring, making the structure of the industrial cleaning robot more compact and adaptable to various terrains, so that the cleaning area and effect are better. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0012] Figure 2 , is a rear view of the utility model;

[0013] Figure 3 , is a side AA sectional view of the present invention;

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

[0015] Figure 5 , is a bottom-up stereogram of the present invention;

[0016] Figure 6 , is a partial perspective view of the utility model;

[0017] In the figure: 1. frame, 1-1. front frame, 1-2. rear frame, 2. rotating cutter disc, 3. rotating blade, 4. front guide wheel, 5. walking wheel, 6. rear guide wheel, 7. rotating blade drive device, 8. rotating shaft, 9. brush, 10. arc-shaped connecting rod, 11. spring, 12. step structure, 12-1. upper step, 12-2. lower step, 13. connecting plate, 14. driving device, 15. connecting piece, 16. cylinder, 17. negative pressure pipe, 18. bearing, 19. through hole. DETAILED DESCRIPTION

[0018] 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.

[0019] See also Figure 1The utility model provides a flat-bottom wall-climbing robot, comprising a frame 1, walking wheels 5, and a rotating cutter head 2.

[0020] Example 1:

[0021] See also Figures 2 to 6 .

[0022] The rotary cutter disc 2 is arranged at the front of the frame 1, and a rotary blade 3 is arranged inside the rotary cutter disc 2. The rotary cutter disc 2 has a step structure 12. The upper step 12-1 and the lower step 12-2 of the step mechanism 12 are movably matched, and a plurality of connecting ears are provided on the upper step 12-1, and a plurality of vertical plug rods are provided on the lower step 12-2 and below the connecting ears. The plug rods pass through the hollow of the connecting ears to form a relative movable limit between the upper step 12-1 and the lower step 12-2, and a movable spring is sleeved on the lower plug rod. The two ends of the movable spring are pressed by the lower surface of the connecting ear and the upper surface of the lower step 12-2 respectively. The rotary cutter disc 2 has a cavity structure, and bristles 9 are also provided on the bottom circumference of the rotary cutter disc 2. The rotary cutter disc 2 is provided with a rotating shaft 8, which passes through the rotary cutter disc 2 and is connected to the rotating blade 3 within the cavity structure. A rotating blade drive device 7 is provided on the top of the rotating shaft 8. The rotating shaft 8 is a hollow cylindrical structure. Several horizontal bearings 18 are arranged from top to bottom within the cylindrical cavity. The output rod of the rotating blade drive device 7 passes through the hollow space of the several bearings 18 and meshes with the gears inside the bottom rotating blade 3. The top of the rotating blade drive device 7 can be used for wiring the driving power or battery.

[0023] The front end of the rotary cutter disc 2 is provided with an arc-shaped connecting rod 10, the tail of which is provided on the upper step 12-1 of the rotary cutter disc 2. The front end of the arc-shaped connecting rod 10 has an arc-shaped bend, and the front guide wheel 4 connected to the pin is provided at the front end of the arc-shaped bend. A spring 11 is provided on the top surface of the tail of the arc-shaped connecting rod 10, and the other end of the spring 11 is fixedly connected to the frame 1.

[0024] The rotary cutter disc 2 is further provided with a plurality of through holes 19 , through which the negative pressure pipe 17 passes to connect with the cavity in the rotary cutter disc 2 , thereby extracting the cleaned impurities from the cavity of the rotary cutter disc 2 through the negative pressure pipe 17 .

[0025] The frame 1 is provided with a plurality of connecting plates 13 in the middle thereof. The front end of the connecting plates 13 defines the front frame 1-1, while the rear end of the connecting plates 13 defines the rear frame 1-2. The front of the connecting plates 13 is connected to a connector 15, the rear of the connecting plates 13 is connected to a drive device 14, and the top of the connecting plates 13 is connected to one end of a plurality of cylinders 16.

[0026] The front of the connecting plate 13 is connected to the rear end of the connecting member 15 via a transverse pin, and the front end of the connecting member 13 is connected to the upper step 12-1 surface of the rotary cutter head 2. The top of the connecting member 13 is connected to one end of a plurality of cylinders 16 via a transverse pin, and the other end of the plurality of cylinders 16 is connected to the front end of the upper step 12-1 surface of the rotary cutter head 2 via a pin.

[0027] The rear portion of the connecting plate 13 is connected to a drive device 14. A pair of running wheels 5 are symmetrically provided on either side of the output end of the drive device 14. The distance between the two running wheels 5 is less than the width of the working surface of the rotating blade 3. The outer sides of the two running wheels 5 are movably connected to the rear frame 1-2. Specifically, the connection can be through bearings, with the inner ring of the bearing fixedly connected to the running wheel 5 and the outer ring of the bearing fixedly connected to the rear frame 1-2.

[0028] The bottom of the rear end of the rear frame 1-2 is also provided with a rear guide wheel 6 in contact with the ground.

[0029] It is worth mentioning that:

[0030] The setting of the movable spring and the insertion rod allows the upper step 12-1 and the lower step 12-2 of the rotating cutter disc 2 to be movably limited, and when the working surface has undulations, the lower step 12-2 can jump up and down accordingly, and under the action of the movable spring, it resets and applies a spring pressure that is always downward, so that the rotating cutter disc 2 can always be in close contact with the working surface under the action of pressure, thereby increasing friction and making the rotating cutter disc 2 more efficient in cleaning the working surface.

[0031] The arrangement of the rotating shaft 8, bearings, the output shaft of the rotating blade drive device 7 and the rotating blade 3 ensures that although the rotating blade drive device 7 is fixed to the upper end of the rotating shaft 8, its output shaft can rotate freely in the hollow of several bearings. When the bottom rotating blade 3 is subjected to external impact force and the impact force is transmitted to the output shaft, the slight deviation of the output shaft will be blocked by several bearing limits in the rotating shaft 8, and the bearings can absorb the impact force, thereby ensuring that the output shaft of the rotating blade drive device 7 is always on the rotating center of gravity axis of the rotating cutter disc 2 and avoiding the problem of stress fracture of the output shaft due to the transmission of impact force.

[0032] The arc-shaped connecting rod 10 allows the front of the entire device to be provided with a front guide wheel 7 to help the machine better steer and stabilize its travel direction. In addition, the arc-shaped connecting rod 10 is connected to the frame 1 through a spring 11, which can not only strengthen the connection between the rotating cutter disc 2 and the frame 1, but also realize an elastic and movable connection between the rotating cutter disc 2 and the frame 1. When there are bumps on the working surface, the design of the spring 11 connection can ensure the free up and down movement of the rotating cutter disc 2 and the connection with the frame 1, and the spring 11 can always apply the gravity of the frame 1 and related devices to the rotating cutter disc 2 in the form of elastic pressure, so that it is always in close contact with the working surface under pressure, increasing friction and improving cleaning efficiency.

[0033] Since the connecting plate 13, the connecting member 15 and the cylinder 16 are all linked by a transverse pin, the rotary cutter head 2 can freely move up and down in the vertical direction while being limited in the transverse direction and indirectly connected to the connecting plate 13. By controlling the extension and contraction of the cylinder 16, the rotary cutter head 2 can generate a lever movement with the pin of the connecting plate 13 and the connecting member 15 as the fulcrum and the connection between the cylinder 16 and the rotary cutter head 2 as the power arm, thereby achieving slight angle adjustment of the rotary cutter head 2.

[0034] The width of the travel wheel 5 is set so that the travel path of the device is always on the surface cleaned by the front rotating blade 3. Through the connection between the travel wheel 5 and the frame 1, the connecting plate 13 is indirectly connected to the frame 1, and the indirect connection between the rotary cutter head 2 and the frame 1 is also realized.

[0035] The specific operation of this device is as follows:

[0036] The rotating blade drive device 7 drives the rotating blade 3 to perform rotary cleaning on the working surface, and the brush 9 can also clean the working surface. A portion of the impurities generated by cleaning are extracted by the negative pressure pipe 17. The walking wheel 5 pushes the device forward. Since the cleaning part is in the front, the walking wheel 5 always moves on the cleaned working surface. The front guide wheel 4 and the rear guide wheel 6 eliminate unnecessary lateral displacement caused by the rotational friction between the rotating cutter disc 2 and the ground. By controlling the rotation speed and rotation direction of the walking wheels 5 on both sides, the steering and front and rear displacement of the device can be achieved. By controlling the cylinder 16, the rotating cutter disc 2 can be slightly adjusted in angle.

[0037] 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 flat-bottom wall-climbing robot, comprising a frame, characterized in that: Also includes: A rotating cutter disc is provided at the front of the frame, wherein a rotating blade is provided in the rotating cutter disc; A front guide wheel is arranged at the middle of the front end of the rotating cutter disc; Two running wheels are arranged in the middle of the frame and located at the rear side of the rotating cutter disc, and the distance between the two running wheels is smaller than the width of the working surface of the rotating blade; A rear guide wheel provided at the rear of the frame; The rotating cutter disc has a stepped structure, and the front end of the rotating cutter disc is connected to the front guide wheel through two arc-shaped connecting rods. The rear part of the arc-shaped connecting rod is connected to the top of the step on the rotating cutter disc. A spring is provided on the top of the arc-shaped connecting rod. One end of the spring is connected to the arc-shaped connecting rod, and the other end of the spring is connected to the frame.

2. A flat-bottom wall-climbing robot according to claim 1, characterized in that: The rotary cutter disc is a cavity structure with an opening at the bottom. The rotary blade driving device is connected to a rotating shaft, and the rotating shaft passes through the top of the rotary cutter disc and is connected to the rotary blade located in the cavity.

3. A flat-bottom wall-climbing robot as claimed in claim 2, characterized in that: A circle of brushes is provided around the bottom of the rotating cutter disc.

4. A flat-bottom wall-climbing robot according to claim 1, characterized in that: A vertically arranged connecting plate is provided in the middle of the frame, and the connecting plate divides the frame into a front frame and a rear frame. A driving device is provided in the rear frame, and walking wheels are provided on both sides of the driving device. The rear side of the connecting plate is connected to the driving device, and the front side of the connecting plate is connected to the rear side of the rotating cutter disc through a connecting piece. A plurality of cylinders are also provided on the connecting plate, and the other end of the cylinder is hinged to the front side of the step surface on the rotating cutter disc.

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